110 lines
3.4 KiB
C++
110 lines
3.4 KiB
C++
/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/test/ServerFixture.hh"
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#include "test/util.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/Light.hh"
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using namespace gazebo;
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class LightTest : public ServerFixture { };
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//////////////////////////////////////////////////
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TEST_F(LightTest, Constructor)
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{
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// Load a world
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this->Load("worlds/empty.world", true);
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physics::WorldPtr world = physics::get_world("default");
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// Create a base to be the light's parent
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physics::BasePtr basePtr;
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basePtr.reset(new physics::Base(physics::BasePtr()));
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basePtr->SetName("world_root_element");
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basePtr->SetWorld(world);
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// Create the light
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physics::LightPtr lightPtr(new physics::Light(basePtr));
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EXPECT_TRUE(lightPtr != NULL);
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}
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//////////////////////////////////////////////////
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TEST_F(LightTest, LightMsg)
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{
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ignition::math::Pose3d pose(1, 2, 3, 0.1, 0.2, 0.3);
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// Load a world
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this->Load("worlds/empty.world", true);
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physics::WorldPtr world = physics::get_world("default");
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// Create a base to be the light's parent
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physics::BasePtr basePtr;
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basePtr.reset(new physics::Base(physics::BasePtr()));
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basePtr->SetName("world_root_element");
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basePtr->SetWorld(world);
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// Create the light
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physics::LightPtr lightPtr(new physics::Light(basePtr));
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EXPECT_TRUE(lightPtr != NULL);
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// Create the light message
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msgs::Light lightMsg;
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lightMsg.set_name("test_light");
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msgs::Set(lightMsg.mutable_pose(), pose);
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msgs::Set(lightMsg.mutable_diffuse(), common::Color(0.4, 0.5, 0.6));
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lightMsg.set_type(msgs::Light::SPOT);
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// Process message
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lightPtr->ProcessMsg(lightMsg);
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// Check pose
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EXPECT_EQ(lightPtr->GetWorldPose(), pose);
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// Get message
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msgs::Light newLightMsg;
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lightPtr->FillMsg(newLightMsg);
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// Check message against original message
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EXPECT_EQ(lightMsg.name(), newLightMsg.name());
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EXPECT_EQ(lightMsg.diffuse().r(), newLightMsg.diffuse().r());
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EXPECT_EQ(lightMsg.diffuse().g(), newLightMsg.diffuse().g());
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EXPECT_EQ(lightMsg.diffuse().b(), newLightMsg.diffuse().b());
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EXPECT_EQ(lightMsg.pose().position().x(), newLightMsg.pose().position().x());
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EXPECT_EQ(lightMsg.pose().position().y(), newLightMsg.pose().position().y());
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EXPECT_EQ(lightMsg.pose().position().z(), newLightMsg.pose().position().z());
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EXPECT_EQ(lightMsg.pose().orientation().w(),
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newLightMsg.pose().orientation().w());
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EXPECT_EQ(lightMsg.pose().orientation().x(),
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newLightMsg.pose().orientation().x());
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EXPECT_EQ(lightMsg.pose().orientation().y(),
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newLightMsg.pose().orientation().y());
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EXPECT_EQ(lightMsg.pose().orientation().z(),
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newLightMsg.pose().orientation().z());
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EXPECT_EQ(lightMsg.type(), newLightMsg.type());
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}
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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