86 lines
2.1 KiB
C++
86 lines
2.1 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 <boost/filesystem.hpp>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/common/common.hh"
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#include "gazebo/common/SystemPaths.hh"
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using namespace gazebo;
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class FileHandling : public ServerFixture
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{
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};
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TEST_F(FileHandling, Save)
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{
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// Cleanup test directory.
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common::SystemPaths *paths = common::SystemPaths::Instance();
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boost::filesystem::remove_all(paths->GetDefaultTestPath());
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boost::filesystem::create_directories(paths->GetDefaultTestPath());
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Load("worlds/empty.world");
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transport::PublisherPtr serverControlPub =
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node->Advertise<msgs::ServerControl>("/gazebo/server/control");
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transport::PublisherPtr requestPub =
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node->Advertise<msgs::Request>("~/request");
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// Find a valid filename
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FILE *file = NULL;
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std::ostringstream filename;
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int i = 0;
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do
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{
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filename.str("");
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filename << paths->GetDefaultTestPath() << "/test_" << i << ".world";
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i++;
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} while ((file = fopen(filename.str().c_str(), "r")) != NULL);
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msgs::ServerControl msg;
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msg.set_save_world_name("default");
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msg.set_save_filename(filename.str());
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serverControlPub->Publish(msg);
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// Wait until the file exists
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i = 0;
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while (i < 10)
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{
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file = fopen(filename.str().c_str(), "r");
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if (file != NULL)
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{
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fclose(file);
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break;
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}
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i++;
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common::Time::MSleep(100);
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}
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EXPECT_LT(i, 10);
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// Cleanup test directory.
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boost::filesystem::remove_all(paths->GetDefaultTestPath());
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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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