100 lines
3.1 KiB
C++
100 lines
3.1 KiB
C++
/*
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* Copyright (C) 2017 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 "gazebo/physics/physics.hh"
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using namespace gazebo;
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class StaticMapTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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/// \brief Test StaticMapPlugin and verify model sdf and resource
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/// files have been successfully created.
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TEST_F(StaticMapTest, StaticMapPlugin)
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{
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// temporary back up files for testing if cache exists
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std::string modelName = "map_satellite_37.386491_-122.065255_100_100";
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std::string basePath = common::SystemPaths::Instance()->GetLogPath();
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std::string modelPath = basePath + "/models/" + modelName;
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std::string modelBackupPath = modelPath + "_bk";
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if (common::exists(modelPath))
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{
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boost::filesystem::rename(modelPath, modelBackupPath);
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EXPECT_TRUE(common::exists(modelBackupPath));
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}
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// there should be no more model cache
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EXPECT_FALSE(common::exists(modelPath));
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// Test plugin for creating textured map model
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this->Load("worlds/static_map_plugin.world");
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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// check that map model is spawned into the world by plugin
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WaitUntilEntitySpawn(modelName, 300, 300);
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physics::ModelPtr mapModel =
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world->GetModel(modelName);
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ASSERT_TRUE(mapModel != nullptr);
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// verify basic model properties
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EXPECT_TRUE(mapModel->IsStatic());
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EXPECT_EQ(mapModel->GetWorldPose().Ign(),
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ignition::math::Pose3d::Zero);
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// links
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auto links = mapModel->GetLinks();
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EXPECT_FALSE(links.empty());
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auto link = links[0];
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ASSERT_TRUE(link != nullptr);
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// collisions
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auto collisions = link->GetCollisions();
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EXPECT_FALSE(collisions.empty());
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// verify model dir structure and files
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EXPECT_TRUE(common::exists(modelPath));
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EXPECT_TRUE(common::isFile(modelPath + "/model.sdf"));
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EXPECT_TRUE(common::isFile(modelPath + "/model.config"));
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EXPECT_TRUE(common::isFile(
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modelPath + "/materials/scripts/map_tiles.material"));
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std::string centerTileName = "tile_37.386491_-122.065255.png";
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EXPECT_TRUE(common::isFile(
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modelPath + "/materials/textures/" + centerTileName));
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// done testing, remove cache
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boost::filesystem::remove_all(modelPath);
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EXPECT_FALSE(common::exists(modelPath));
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// restore original model cache if needed
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if (common::exists(modelBackupPath))
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{
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boost::filesystem::rename(modelBackupPath, modelPath);
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EXPECT_FALSE(common::exists(modelBackupPath));
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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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