109 lines
3.2 KiB
C++
109 lines
3.2 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 <gtest/gtest.h>
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#include "gazebo/physics/PhysicsIface.hh"
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#include "gazebo/common/Time.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class SensorStress_TEST : public ServerFixture
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{
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};
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boost::condition_variable g_countCondition;
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// global variable and callback for tracking hokuyo sensor messages
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unsigned int g_hokuyoMsgCount;
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void ReceiveHokuyoMsg(ConstLaserScanStampedPtr &/*_msg*/)
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{
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g_hokuyoMsgCount++;
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if (g_hokuyoMsgCount >= 20)
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g_countCondition.notify_one();
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}
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/////////////////////////////////////////////////
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/// \brief Reset world a bunch of times and verify that no assertions happen
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/// The assert "SensorManager.cc(479): Took negative time to update a sensor."
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/// has been observed in Jenkins testing.
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TEST_F(SensorStress_TEST, ResetWorldStressTest)
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{
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// Load in a world with lasers
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Load("worlds/ray_test.world");
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// get the sensor manager
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sensors::SensorManager *mgr = sensors::SensorManager::Instance();
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EXPECT_TRUE(mgr->SensorsInitialized());
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// get the hokuyo sensor
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sensors::SensorPtr sensor;
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sensor = mgr->GetSensor("default::hokuyo::link::laser");
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ASSERT_TRUE(sensor != NULL);
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// set update rate to unlimited
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double updateRate = 0.0;
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sensor->SetUpdateRate(updateRate);
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gzdbg << sensor->ScopedName() << " loaded with update rate of "
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<< sensor->UpdateRate() << " Hz\n";
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g_hokuyoMsgCount = 0;
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// Subscribe to hokuyo laser scan messages
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transport::NodePtr node = transport::NodePtr(new transport::Node());
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node->Init();
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transport::SubscriberPtr sceneSub = node->Subscribe(
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"~/hokuyo/link/laser/scan", &ReceiveHokuyoMsg);
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// Wait for messages to arrive
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{
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boost::mutex countMutex;
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boost::mutex::scoped_lock lock(countMutex);
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g_countCondition.wait(lock);
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gzdbg << "counted " << g_hokuyoMsgCount << " hokuyo messages\n";
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}
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EXPECT_GT(g_hokuyoMsgCount, 19u);
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// Send reset world message
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transport::PublisherPtr worldControlPub =
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node->Advertise<msgs::WorldControl>("~/world_control");
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// Copied from MainWindow::OnResetWorld
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msgs::WorldControl msg;
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msg.mutable_reset()->set_all(true);
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worldControlPub->Publish(msg);
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common::Time::MSleep(300);
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int i;
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for (i = 0; i < 20; ++i)
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{
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worldControlPub->Publish(msg);
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gzdbg << "counted " << g_hokuyoMsgCount << " hokuyo messages\n";
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common::Time::MSleep(200);
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}
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}
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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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