288 lines
8.8 KiB
C++
288 lines
8.8 KiB
C++
/*
|
|
* Copyright (C) 2013 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include "gazebo/util/LogRecord.hh"
|
|
#include "gazebo/test/ServerFixture.hh"
|
|
|
|
using namespace gazebo;
|
|
class GzLog : public ServerFixture
|
|
{
|
|
};
|
|
|
|
/////////////////////////////////////////////////
|
|
/// \brief Test log recording from gzserver
|
|
TEST_F(GzLog, Record)
|
|
{
|
|
util::LogRecord *recorder = util::LogRecord::Instance();
|
|
recorder->Init("test");
|
|
Load("worlds/single_revolute_test.world");
|
|
|
|
// Get a pointer to the world
|
|
physics::WorldPtr world = physics::get_world("default");
|
|
ASSERT_TRUE(world != NULL);
|
|
|
|
world->SetPaused(true);
|
|
|
|
ASSERT_TRUE(recorder != NULL);
|
|
|
|
EXPECT_FALSE(recorder->Paused());
|
|
EXPECT_FALSE(recorder->Running());
|
|
|
|
// Start log recording
|
|
custom_exec("gz log -w default -d 1");
|
|
world->Step(100);
|
|
|
|
std::string filename = recorder->Filename();
|
|
|
|
EXPECT_TRUE(recorder->Running());
|
|
EXPECT_FALSE(recorder->Paused());
|
|
EXPECT_FALSE(filename.empty());
|
|
EXPECT_GT(recorder->FileSize(), 0u);
|
|
|
|
// Stop log recording
|
|
custom_exec("gz log -w default -d 0");
|
|
|
|
EXPECT_FALSE(recorder->Running());
|
|
|
|
std::string cmd = "gz log -i -f " + filename;
|
|
std::string info = custom_exec(cmd);
|
|
std::string logVersionStr = info.substr(
|
|
info.find("Log Version: ")+16, info.find("\n")-16);
|
|
|
|
EXPECT_EQ(logVersionStr, GZ_LOG_VERSION);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Record a log file with filter
|
|
TEST_F(GzLog, RecordFilter)
|
|
{
|
|
util::LogRecord *recorder = util::LogRecord::Instance();
|
|
recorder->SetFilter("pendulum_0deg*");
|
|
double period = 0.02;
|
|
recorder->SetPeriod(period);
|
|
recorder->Init("test");
|
|
Load("worlds/revolute_joint_test.world");
|
|
|
|
// Get a pointer to the world
|
|
physics::WorldPtr world = physics::get_world("default");
|
|
ASSERT_TRUE(world != nullptr);
|
|
|
|
ASSERT_TRUE(recorder != nullptr);
|
|
|
|
EXPECT_FALSE(recorder->Paused());
|
|
EXPECT_FALSE(recorder->Running());
|
|
|
|
// Start log recording
|
|
custom_exec("gz log -w default -d 1");
|
|
|
|
world->Step(100);
|
|
|
|
std::string filename = recorder->Filename();
|
|
EXPECT_TRUE(recorder->Running());
|
|
EXPECT_FALSE(recorder->Paused());
|
|
EXPECT_FALSE(filename.empty());
|
|
EXPECT_GT(recorder->FileSize(), 0u);
|
|
|
|
// Stop log recording
|
|
custom_exec("gz log -w default -d 0");
|
|
|
|
EXPECT_FALSE(recorder->Running());
|
|
|
|
// Store parsed output in a string
|
|
std::string cmd = "gz log -e -f " + filename;
|
|
std::string state = custom_exec(cmd);
|
|
|
|
// Get sdf string containing world state
|
|
auto sdfBeginIdx = state.find("<sdf version");
|
|
auto sdfEndIdx = state.find("</sdf>");
|
|
EXPECT_NE(sdfBeginIdx, std::string::npos);
|
|
EXPECT_NE(sdfEndIdx, std::string::npos);
|
|
std::string worldState = state.substr(sdfBeginIdx, sdfEndIdx+2);
|
|
// Convert string to sdf element
|
|
sdf::SDF worldSdf;
|
|
worldSdf.SetFromString(worldState);
|
|
EXPECT_TRUE(worldSdf.Root()->HasElement("world"));
|
|
auto worldElem = worldSdf.Root()->GetElement("world");
|
|
EXPECT_TRUE(worldElem->HasElement("model"));
|
|
auto modelElem = worldElem->GetElement("model");
|
|
|
|
// check that all pendulum models are not filtered in the initial world state
|
|
unsigned int pendulumCount = 0;
|
|
while (modelElem)
|
|
{
|
|
std::string name = modelElem->Get<std::string>("name");
|
|
if (name.find("pendulum") != std::string::npos)
|
|
pendulumCount++;
|
|
modelElem = modelElem->GetNextElement("model");
|
|
}
|
|
// there should be 8 pendulums in the world
|
|
EXPECT_EQ(pendulumCount, 8u);
|
|
|
|
// Parse state string and verify logging period and model name filter
|
|
unsigned int filteredStateCount = 0;
|
|
auto nextIdx = sdfEndIdx;
|
|
std::string simTimeStr = "<sim_time>";
|
|
double prevSimTime = -1;
|
|
auto simTimeIdx = state.find(simTimeStr, nextIdx);
|
|
auto nameIdx = state.find("<model name='", nextIdx);
|
|
while (nameIdx != std::string::npos && simTimeIdx != std::string::npos)
|
|
{
|
|
// verify log period
|
|
auto simTimeEndIdx = state.find("</sim_time>", simTimeIdx);
|
|
std::string ns = state.substr(simTimeIdx + simTimeStr.size() + 2,
|
|
simTimeEndIdx - simTimeIdx - simTimeStr.size() - 2);
|
|
double simTime = std::stod(ns) / 1e9;
|
|
EXPECT_GT(simTime, 0);
|
|
if (prevSimTime >= 0)
|
|
EXPECT_FLOAT_EQ(simTime - prevSimTime, period);
|
|
prevSimTime = simTime;
|
|
|
|
// verify model name - only models matching the filter string should exist
|
|
auto nameBeginIdx = state.find("\'", nameIdx);
|
|
auto nameEndIdx = state.find("\'", nameBeginIdx+1);
|
|
EXPECT_NE(nameBeginIdx, std::string::npos);
|
|
EXPECT_NE(nameEndIdx, std::string::npos);
|
|
std::string modelName = state.substr(nameBeginIdx+1,
|
|
nameEndIdx-nameBeginIdx-1);
|
|
EXPECT_EQ(modelName, "pendulum_0deg");
|
|
filteredStateCount++;
|
|
nameIdx = state.find("<model name='", nameEndIdx+1);
|
|
simTimeIdx = state.find("<sim_time>", nameEndIdx+1);
|
|
}
|
|
EXPECT_GT(filteredStateCount, 0u);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Save resources when recording.
|
|
TEST_F(GzLog, RecordResources)
|
|
{
|
|
// Init recorder to save resources into specified path
|
|
util::LogRecord *recorder = util::LogRecord::Instance();
|
|
recorder->SetRecordResources(true);
|
|
std::string recordPath =
|
|
common::SystemPaths::Instance()->GetDefaultTestPath();
|
|
recorder->SetBasePath(recordPath);
|
|
recorder->Init("test");
|
|
|
|
gzdbg << "record path: " << recordPath << std::endl;
|
|
|
|
this->Load("worlds/record_resources.world", true);
|
|
|
|
// Get a pointer to the world
|
|
physics::WorldPtr world = physics::get_world("default");
|
|
ASSERT_NE(nullptr, world);
|
|
|
|
ASSERT_NE(nullptr, recorder);
|
|
|
|
EXPECT_FALSE(recorder->Paused());
|
|
EXPECT_FALSE(recorder->Running());
|
|
|
|
// Start log recording
|
|
custom_exec("gz log -w default -d 1");
|
|
|
|
world->Step(100);
|
|
|
|
std::string filename = recorder->Filename();
|
|
EXPECT_TRUE(recorder->Running());
|
|
EXPECT_FALSE(recorder->Paused());
|
|
EXPECT_FALSE(filename.empty());
|
|
EXPECT_GT(recorder->FileSize(), 0u);
|
|
|
|
// test spawning model
|
|
// spawn one from model path
|
|
std::string spawnModelName = "beer";
|
|
this->SpawnModel("model://" + spawnModelName);
|
|
physics::ModelPtr newModel = world->GetModel(spawnModelName);
|
|
EXPECT_EQ(nullptr, newModel);
|
|
|
|
// spawn another one with abs path to mesh file
|
|
EXPECT_EQ(nullptr, world->GetModel("model_abs"));
|
|
|
|
std::string absMeshPath = std::string(TEST_PATH) + "/data/box.obj";
|
|
std::stringstream modelStr;
|
|
modelStr << "<sdf version='" << SDF_VERSION << "'>"
|
|
<< "<model name=\"model_abs\">"
|
|
<< " <pose>1 0 0.5 0 0 0</pose>"
|
|
<< " <link name=\"link\">"
|
|
<< " <collision name=\"collision\">"
|
|
<< " <geometry>"
|
|
<< " <box>"
|
|
<< " <size>1 1 1</size>"
|
|
<< " </box>"
|
|
<< " </geometry>"
|
|
<< " </collision>"
|
|
<< " <visual name=\"visual\">"
|
|
<< " <geometry>"
|
|
<< " <mesh>"
|
|
<< " <uri>" << absMeshPath << "</uri>"
|
|
<< " </mesh>"
|
|
<< " </geometry>"
|
|
<< " </visual>"
|
|
<< " </link>"
|
|
<< "</model>"
|
|
<< "</sdf>";
|
|
this->SpawnSDF(modelStr.str());
|
|
|
|
world->Step(100);
|
|
|
|
// Check models were spawned
|
|
EXPECT_NE(nullptr, world->GetModel(spawnModelName));
|
|
EXPECT_NE(nullptr, world->GetModel("model_abs"));
|
|
|
|
// Stop log recording
|
|
custom_exec("gz log -w default -d 0");
|
|
|
|
EXPECT_FALSE(recorder->Running());
|
|
|
|
// check that model recource files are saved
|
|
EXPECT_TRUE(common::exists(filename));
|
|
|
|
// get log dir path
|
|
std::string logDirPath = filename.substr(0, filename.rfind("/"));
|
|
EXPECT_FALSE(logDirPath.empty());
|
|
|
|
// check that resources referenced by material script uri have been saved.
|
|
std::string path = logDirPath + "/media/materials/scripts/gazebo.material";
|
|
EXPECT_TRUE(common::exists(path));
|
|
|
|
// check for collision stl mesh
|
|
path = logDirPath +
|
|
"/cordless_drill/meshes/cordless_drill.stl";
|
|
EXPECT_TRUE(common::exists(path));
|
|
|
|
// check for visual dae mesh
|
|
path = logDirPath +
|
|
"/cordless_drill/meshes/cordless_drill.dae";
|
|
EXPECT_TRUE(common::exists(path));
|
|
|
|
// check that spawned models are also saved.
|
|
path = logDirPath + "/" + spawnModelName;
|
|
EXPECT_TRUE(common::exists(path));
|
|
|
|
// model with abs path to mesh
|
|
path = logDirPath + absMeshPath;
|
|
EXPECT_TRUE(common::exists(path));
|
|
boost::filesystem::remove_all(recordPath);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|