119 lines
3.8 KiB
C++
119 lines
3.8 KiB
C++
/*
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* Copyright (C) 2012 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 <string.h>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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#define PHYSICS_TOL 1e-2
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using namespace gazebo;
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class PhysicsThreadSafeTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Load a blank world and try to change gravity.
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/// The test passes if it doesn't seg-fault.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void BlankWorld(const std::string &_physicsEngine);
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/// \brief Load the revolute joint test world, unthrottle the update rate,
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/// and repeately call Link::Get* functions to verify thread safety.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void LinkGet(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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void PhysicsThreadSafeTest::BlankWorld(const std::string &_physicsEngine)
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{
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Load("worlds/blank.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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// The following lines cause a seg-fault on revision 031749b
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// This test passes if it doesn't seg-fault.
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math::Vector3 g = physics->GetGravity();
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physics->SetGravity(g);
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}
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/////////////////////////////////////////////////
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void PhysicsThreadSafeTest::LinkGet(const std::string &_physicsEngine)
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{
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Load("worlds/revolute_joint_test.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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// Unthrottle the update rate
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physics->SetRealTimeUpdateRate(0);
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std::string modelName = "pendulum_0deg";
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std::string linkName = "lower_link";
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physics::ModelPtr model = world->GetModel(modelName);
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ASSERT_TRUE(model != NULL);
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physics::LinkPtr link = model->GetLink(linkName);
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ASSERT_TRUE(link != NULL);
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// Start the simulation
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world->SetPaused(false);
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// Run for 5 seconds of sim time
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while (world->GetSimTime().sec < 5)
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{
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// Call these functions repeatedly
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// Test passes if it doesn't abort early
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math::Vector3 vel = link->GetWorldLinearVel();
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vel += link->GetWorldLinearVel(math::Vector3());
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vel += link->GetWorldLinearVel(math::Vector3(), math::Quaternion());
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vel += link->GetWorldCoGLinearVel();
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vel += link->GetWorldAngularVel();
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}
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}
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/////////////////////////////////////////////////
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TEST_P(PhysicsThreadSafeTest, BlankWorld)
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{
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BlankWorld(GetParam());
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}
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/////////////////////////////////////////////////
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TEST_P(PhysicsThreadSafeTest, LinkGet)
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{
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LinkGet(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, PhysicsThreadSafeTest,
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PHYSICS_ENGINE_VALUES);
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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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