153 lines
4.3 KiB
C++
153 lines
4.3 KiB
C++
/*
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* Copyright (C) 2014 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 <ignition/math.hh>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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#include "test/integration/joint_test.hh"
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#include "gazebo/gazebo_config.h"
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using namespace gazebo;
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class Issue1702Test : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Test for issue #1702, spawn a model,
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/// delete it, and respawn with the same name.
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/// \param[in] _physicsEngine Type of physics engine to use.
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public: void SpawnDeleteSpawnAgain(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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void Issue1702Test::SpawnDeleteSpawnAgain(const std::string &_physicsEngine)
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{
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if (_physicsEngine == "dart")
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{
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gzerr << "DART fails, see issue #1723.\n";
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return;
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}
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// Load an empty world
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Load("worlds/camera.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Verify physics engine type
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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// disable gravity
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physics->SetGravity(math::Vector3::Zero);
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// spawn a model
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msgs::Model model;
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model.set_name("a_fancy_box");
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const ignition::math::Vector3d pos(5.0, 0.0, 0.5);
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msgs::Set(model.mutable_pose(),
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ignition::math::Pose3<double>(pos,
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ignition::math::Quaternion<double>::Identity));
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const double mass = 1.5;
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const ignition::math::Vector3d size(1.1, 1.2, 1.3);
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msgs::AddBoxLink(model, mass, size);
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auto link = model.mutable_link(0);
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msgs::Set(link->mutable_pose(), ignition::math::Pose3d());
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{
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auto inertial = link->mutable_inertial();
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msgs::Set(inertial->mutable_pose(), ignition::math::Pose3d());
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}
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auto collision = link->mutable_collision(0);
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msgs::Set(collision->mutable_pose(), ignition::math::Pose3d());
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auto linkVisual = link->mutable_visual(0);
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msgs::Set(linkVisual->mutable_pose(), ignition::math::Pose3d());
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physics::ModelPtr box = ServerFixture::SpawnModel(model);
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EXPECT_TRUE(box != NULL);
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std::string name = box->GetName();
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// gzerr << "spawned"; getchar();
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// delete that model
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ServerFixture::RemoveModel(name);
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// also test removal with below:
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// world->RemoveModel(name);
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int count = 0;
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while (world->GetModel(name) != NULL && ++count < 1000)
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{
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common::Time::MSleep(1);
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world->Step(1);
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}
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EXPECT_TRUE(world->GetModel(name) == NULL);
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EXPECT_LT(count, 1000);
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// gzerr << "deleted"; getchar();
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// spawn the exact same model
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// if this succeeds, we're OK.
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physics::ModelPtr newBox = ServerFixture::SpawnModel(model);
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count = 0;
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while (world->GetModel(name) == NULL && ++count < 1000)
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{
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common::Time::MSleep(1);
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world->Step(1);
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}
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EXPECT_TRUE(world->GetModel(name) != NULL);
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// Look through a camera to ensure visuals are generated
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rendering::ScenePtr scene = rendering::get_scene();
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ASSERT_TRUE(scene != NULL);
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rendering::CameraPtr camera = scene->GetCamera("camera::link::camera");
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ASSERT_TRUE(camera != NULL);
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int sleep = 0;
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int maxSleep = 5;
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rendering::VisualPtr visual;
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while (!visual && sleep < maxSleep)
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{
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visual = scene->GetVisual("a_fancy_box::link_1");
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common::Time::MSleep(100);
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sleep++;
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}
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ASSERT_TRUE(visual != NULL);
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// box should be visible to the camera.
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EXPECT_TRUE(camera->IsVisible(visual));
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}
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TEST_P(Issue1702Test, SpawnDeleteSpawnAgain)
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{
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SpawnDeleteSpawnAgain(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, Issue1702Test, PHYSICS_ENGINE_VALUES);
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/////////////////////////////////////////////////
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/// Main
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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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