365 lines
14 KiB
C++
365 lines
14 KiB
C++
/*
|
|
* Copyright (C) 2012 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 <gtest/gtest.h>
|
|
#include <boost/lexical_cast.hpp>
|
|
#include <boost/algorithm/string/trim.hpp>
|
|
#include <gazebo/common/CommonIface.hh>
|
|
#include <gazebo/common/Time.hh>
|
|
#include <sdf/sdf_config.h>
|
|
|
|
#include <stdio.h>
|
|
#include <string>
|
|
|
|
// This header file isn't needed if shasums are used
|
|
// #include "test/data/pr2_state_log_expected.h"
|
|
#include "test_config.h"
|
|
#include "gazebo/gazebo_config.h"
|
|
|
|
std::string custom_exec(std::string _cmd)
|
|
{
|
|
_cmd += " 2>/dev/null";
|
|
FILE* pipe = popen(_cmd.c_str(), "r");
|
|
|
|
if (!pipe)
|
|
return "ERROR";
|
|
|
|
char buffer[128];
|
|
std::string result = "";
|
|
|
|
while (!feof(pipe))
|
|
{
|
|
if (fgets(buffer, 128, pipe) != NULL)
|
|
result += buffer;
|
|
}
|
|
|
|
pclose(pipe);
|
|
return result;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to make sure that 'gz log -i' returns correct information
|
|
TEST(gz_log, Info)
|
|
{
|
|
std::string info = custom_exec(std::string("gz log -i -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(info);
|
|
|
|
std::string validInfo =
|
|
"Log Version: 1.0\n"
|
|
"Gazebo Version: 1.4.6\n"
|
|
"Random Seed: 32606\n"
|
|
// "Start: Feb 08 13 05:35:55.667456998\n"
|
|
// "End: Feb 08 13 05:35:58.947304437\n"
|
|
// "Duration: 00:00:03.279847439\n"
|
|
// "Steps: 3\n"
|
|
"Size: 12.377 KB\n"
|
|
"Encoding: bz2";
|
|
// "Model Count: 2";
|
|
|
|
EXPECT_EQ(validInfo, info);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to make sure that 'gz log -e' returns correct information
|
|
TEST(gz_log, Echo)
|
|
{
|
|
std::string echo = custom_exec(std::string("gz log -e -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/empty_state.log");
|
|
boost::trim_right(echo);
|
|
|
|
std::string validEcho =
|
|
"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0"
|
|
"</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n"
|
|
"<rand_seed>24794</rand_seed>\n<log_start>0 0</log_start>\n"
|
|
"<log_end>0 0</log_end>\n</header>\n\n<chunk encoding='txt'>"
|
|
"<![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n "
|
|
"<light name='sun' type='directional'>\n <cast_shadows>1"
|
|
"</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 "
|
|
"0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000"
|
|
"</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000"
|
|
"</specular>\n <attenuation>\n <range>1000.000000</range>\n "
|
|
"<constant>0.900000</constant>\n <linear>0.010000</linear>\n "
|
|
"<quadratic>0.001000</quadratic>\n </attenuation>\n "
|
|
"<direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n "
|
|
"<model name='ground_plane'>\n <static>1</static>\n "
|
|
"<link name='link'>\n <collision name='collision'>\n "
|
|
"<geometry>\n <plane>\n <normal>0.000000 0.000000 "
|
|
"1.000000</normal>\n <size>100.000000 100.000000"
|
|
"</size>\n </plane>\n </geometry>\n "
|
|
"<surface>\n <friction>\n <ode>\n "
|
|
"<mu>100.000000</mu>\n <mu2>50.000000</mu2>\n "
|
|
"</ode>\n </friction>\n <bounce/>\n "
|
|
"<contact>\n <ode/>\n </contact>\n "
|
|
"</surface>\n </collision>\n <visual name='visual'>\n "
|
|
"<cast_shadows>0</cast_shadows>\n <geometry>\n "
|
|
"<plane>\n <normal>0.000000 0.000000 1.000000"
|
|
"</normal>\n <size>100.000000 100.000000</size>\n "
|
|
"</plane>\n </geometry>\n <material>\n "
|
|
"<script>\n <uri>file://media/materials/scripts/gazebo.material"
|
|
"</uri>\n <name>Gazebo/Grey</name>\n "
|
|
"</script>\n </material>\n </visual>\n "
|
|
"<velocity_decay>\n <linear>0.000000</linear>\n "
|
|
"<angular>0.000000</angular>\n </velocity_decay>\n "
|
|
"<self_collide>0</self_collide>\n <kinematic>0"
|
|
"</kinematic>\n <gravity>1</gravity>\n </link>\n "
|
|
"</model>\n <physics type='ode'>\n <update_rate>1000.000000"
|
|
"</update_rate>\n <gravity>0.000000 0.000000 -9.800000"
|
|
"</gravity>\n </physics>\n <scene>\n <ambient>0.200000 0.200000 "
|
|
"0.200000 1.000000</ambient>\n <background>0.700000 0.700000 "
|
|
"0.700000 1.000000</background>\n <shadows>1</shadows>\n "
|
|
"</scene>\n <state world_name='default'>\n <sim_time>0 0"
|
|
"</sim_time>\n <real_time>0 0</real_time>\n <wall_time>"
|
|
"1360300141 918692496</wall_time>\n </state>\n</world>\n</sdf>]]>"
|
|
"</chunk>\n</gazebo_log>";
|
|
|
|
EXPECT_EQ(validEcho, echo);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to make sure that 'gz log -e' returns model and light insertions and
|
|
/// deletions
|
|
TEST(gz_log, EchoInsertionDeletion)
|
|
{
|
|
std::string echo = custom_exec(std::string("gz log -e -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/logs/insertion_deletion.log");
|
|
boost::trim_right(echo);
|
|
|
|
EXPECT_TRUE(echo.find("<insertions>\n<model") != std::string::npos);
|
|
EXPECT_TRUE(echo.find("<insertions>\n<light") != std::string::npos);
|
|
EXPECT_TRUE(echo.find("</insertions>") != std::string::npos);
|
|
|
|
EXPECT_TRUE(echo.find("<deletions>\n<name>unit_box</name>\n</deletions>") !=
|
|
std::string::npos);
|
|
EXPECT_TRUE(echo.find(
|
|
"<deletions>\n<name>user_point_light_0</name>\n</deletions>") !=
|
|
std::string::npos);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to make sure that 'gz log -e --filter' returns correct information
|
|
TEST(gz_log, EchoFilter)
|
|
{
|
|
std::string echo, shasum;
|
|
|
|
// Test model filter
|
|
echo = custom_exec(
|
|
std::string("gz log -e --filter pr2 -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
shasum = gazebo::common::get_sha1<std::string>(echo);
|
|
// EXPECT_EQ(pr2StateLog, echo);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "0bf1f293b164bbe820267f970c4b419acdca4b01");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "6ab471e6c410ebe90a939383bd168660ba9019e8");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "da29428454cff7ef3b54115db8cd52b11dc055f9");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
|
|
echo = custom_exec(
|
|
std::string("gz log -e --filter pr2.pose -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
shasum = gazebo::common::get_sha1<std::string>(echo);
|
|
// EXPECT_EQ(pr2PoseStateLog, echo);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "33db2cbd0841466a67abd7d2bbc69cf2cfae19b6");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "739e4454112440e2c1782fff51a1382edf6cfa57");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "37fb8793d2b9358a38f095718817a0de5df0f2d7");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
|
|
echo = custom_exec(
|
|
std::string("gz log -e --filter pr2.pose.x -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
shasum = gazebo::common::get_sha1<std::string>(echo);
|
|
// EXPECT_EQ(pr2PoseXStateLog, echo);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "07113f16d44e2484f769fd1947ff5dca93f55cf4");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "592bbdf6511ea2e76b5225a1d5c13e8a1884c429");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "b112fffb06668852ad11149639e105bfca8d686b");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
|
|
echo = custom_exec(
|
|
std::string("gz log -e --filter pr2.pose.[x,y] -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
shasum = gazebo::common::get_sha1<std::string>(echo);
|
|
// EXPECT_EQ(pr2PoseXYStateLog, echo);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "7f34f3fac505707727a74ac8659bb8736932ab07");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "594de8f16f10ce881fcb5a17ff98ed9847891221");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "2066e0d45ef941cce339e3219b19fe9c4a1b07c9");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
|
|
// Test link filter
|
|
echo = custom_exec(
|
|
std::string("gz log -e --filter pr2/r_upper*.pose -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
shasum = gazebo::common::get_sha1<std::string>(echo);
|
|
// EXPECT_EQ(pr2LinkStateLog, echo);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "d52ba4333511b7e4339db3eb71814c73473fba36");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "10beb40e2870ac4cf92e67bd95c19432177a7bce");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "396361aba2155ebd311899050211fd913b3bccce");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
|
|
// Test joint filter
|
|
echo = custom_exec(
|
|
std::string("gz log -e --filter pr2//r_upper_arm_roll_joint -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
shasum = gazebo::common::get_sha1<std::string>(echo);
|
|
// EXPECT_EQ(pr2JointStateLog, echo);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "2f689dadc66171a76f7f3400bc218485a923c324");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "25ec9631bd32a9ac5292823e553081375a255399");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "29b572a28f6b83e0c24e8be028c660a58626515c");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to Hz filtering
|
|
TEST(gz_log, HzFilter)
|
|
{
|
|
std::string echo, validEcho;
|
|
|
|
// Test Hz filter
|
|
echo = custom_exec(
|
|
std::string("gz log -e -r -z 1.0 --filter pr2.pose.z -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(echo);
|
|
validEcho = "-0.000008";
|
|
EXPECT_EQ(validEcho, echo);
|
|
|
|
// Test zero Hz filter
|
|
echo = custom_exec(
|
|
std::string("gz log -e -r -z 0 --filter pr2.pose.z -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(echo);
|
|
validEcho = "-0.000008 \n-0.000015";
|
|
EXPECT_EQ(validEcho, echo);
|
|
|
|
// Test negative Hz filter
|
|
echo = custom_exec(
|
|
std::string("gz log -e -r -z -1.0 --filter pr2.pose.z -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(echo);
|
|
validEcho = "-0.000008 \n-0.000015";
|
|
EXPECT_EQ(validEcho, echo);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to raw filtering with time stamps
|
|
TEST(gz_log, RawFilterStamp)
|
|
{
|
|
std::string echo, validEcho;
|
|
|
|
// Sim time
|
|
echo = custom_exec(
|
|
std::string("gz log --echo -r --stamp sim --filter pr2.pose.x -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(echo);
|
|
validEcho = "0.021344 0.000000 \n0.028958 0.000000";
|
|
EXPECT_EQ(validEcho, echo);
|
|
|
|
// Real time
|
|
echo = custom_exec(
|
|
std::string("gz log --echo -r --stamp real --filter pr2.pose.x -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(echo);
|
|
validEcho = "0.001000 0.000000 \n0.002000 0.000000";
|
|
EXPECT_EQ(validEcho, echo);
|
|
|
|
// Wall time
|
|
echo = custom_exec(
|
|
std::string("gz log --echo -r --stamp wall --filter pr2.pose.x -f ") +
|
|
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
|
|
boost::trim_right(echo);
|
|
validEcho = std::string("1360301758.939690 0.000000 \n")
|
|
+ std::string("1360301758.947304 0.000000");
|
|
EXPECT_EQ(validEcho, echo);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Check to make sure that 'gz log -s' returns correct information
|
|
TEST(gz_log, Step)
|
|
{
|
|
std::string stepCmd, shasum;
|
|
stepCmd = std::string("gz log -s -f ") + PROJECT_SOURCE_PATH +
|
|
std::string("/test/data/pr2_state.log");
|
|
|
|
// Call gz log step and press q immediately
|
|
std::string stepq0 = custom_exec(std::string("echo 'q' | ") + stepCmd);
|
|
shasum = gazebo::common::get_sha1<std::string>(stepq0);
|
|
EXPECT_EQ(shasum, "81ceefcf3f81169cc9baf98f463469db242d9534");
|
|
|
|
// Call gz log step and press space once, then q
|
|
std::string stepq1 = custom_exec(std::string("echo ' q' | ") + stepCmd);
|
|
shasum = gazebo::common::get_sha1<std::string>(stepq1);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "43eacb140e00ef0525d54667bc558d63dac3d21f");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "cc55bc387eec68fc2b2aef70bfb7372a2706a6dc");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "414d50cf03c3650c112062a90a8c87acccbab893");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
|
|
// Call gz log step and press space twice, then q
|
|
std::string stepq2 = custom_exec(std::string("echo ' q' | ") + stepCmd);
|
|
shasum = gazebo::common::get_sha1<std::string>(stepq2);
|
|
if (std::string("1.4").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "37e133d15d3f74cbc686bfceb26b8db46e2f6bf5");
|
|
else if (std::string("1.5").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "37934b37eb4e2e7d88ed764c296232124c8a38ab");
|
|
else if (std::string("1.6").compare(SDF_VERSION) == 0)
|
|
EXPECT_EQ(shasum, "c713b28ea4da6a7a9750aba1d9e65c12756ce026");
|
|
else
|
|
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST(gz_log, HangCheck)
|
|
{
|
|
gazebo::common::Time start = gazebo::common::Time::GetWallTime();
|
|
custom_exec("gz log -r 0");
|
|
gazebo::common::Time end = gazebo::common::Time::GetWallTime();
|
|
|
|
EXPECT_LT(end - start, gazebo::common::Time(60, 0));
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
/// Main
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|