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user_commands.cc
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/*
* Copyright (C) 2019 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 <ignition/msgs/entity_factory.pb.h>
#include <ignition/msgs/light.pb.h>
#include <ignition/msgs/physics.pb.h>
#include <ignition/common/Console.hh>
#include <ignition/common/Util.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/transport/Node.hh>
#include <ignition/utils/ExtraTestMacros.hh>
#include "ignition/gazebo/components/Light.hh"
#include "ignition/gazebo/components/Link.hh"
#include "ignition/gazebo/components/Model.hh"
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/Physics.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/WheelSlipCmd.hh"
#include "ignition/gazebo/components/World.hh"
#include "ignition/gazebo/Model.hh"
#include "ignition/gazebo/Server.hh"
#include "ignition/gazebo/SystemLoader.hh"
#include "ignition/gazebo/test_config.hh"
#include "../helpers/Relay.hh"
#include "../helpers/EnvTestFixture.hh"
using namespace ignition;
using namespace gazebo;
//////////////////////////////////////////////////
class UserCommandsTest : public InternalFixture<::testing::Test>
{
};
/////////////////////////////////////////////////
// See https://github.com/ignitionrobotics/ign-gazebo/issues/1175
TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create))
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/empty.sdf";
serverConfig.SetSdfFile(sdfFile);
Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
// Create a system just to get the ECM
// TODO(louise) It would be much more convenient if the Server just returned
// the ECM for us. This would save all the trouble which is causing us to
// create `Relay` systems in the first place. Consider keeping the ECM in a
// shared pointer owned by the SimulationRunner.
EntityComponentManager *ecm{nullptr};
test::Relay testSystem;
testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &,
gazebo::EntityComponentManager &_ecm)
{
ecm = &_ecm;
});
server.AddSystem(testSystem.systemPtr);
// Run server and check we have the ECM
EXPECT_EQ(nullptr, ecm);
server.Run(true, 1, false);
EXPECT_NE(nullptr, ecm);
auto entityCount = ecm->EntityCount();
// SDF strings
auto modelStr = std::string("<?xml version=\"1.0\" ?>") +
"<sdf version='1.6'>" +
"<model name='spawned_model'>" +
"<link name='link'>" +
"<visual name='visual'>" +
"<geometry><sphere><radius>1.0</radius></sphere></geometry>" +
"</visual>" +
"<collision name='visual'>" +
"<geometry><sphere><radius>1.0</radius></sphere></geometry>" +
"</collision>" +
"</link>" +
"</model>" +
"</sdf>";
auto lightStr = std::string("<?xml version='1.0' ?>") +
"<sdf version='1.6'>" +
"<light name='spawned_light' type='directional'>" +
"</light>" +
"</sdf>";
auto lightsStr = std::string("<?xml version='1.0' ?>") +
"<sdf version='1.6'>" +
"<light name='accepted_light' type='directional'>" +
"</light>" +
"</sdf>";
auto badStr = std::string("<?xml version='1.0' ?>") +
"<sdf version='1.6'>" +
"</sdfo>";
// Request entity spawn
msgs::EntityFactory req;
req.set_sdf(modelStr);
auto pose = req.mutable_pose();
auto pos = pose->mutable_position();
pos->set_z(10);
msgs::Boolean res;
bool result;
unsigned int timeout = 5000;
std::string service{"/world/empty/create"};
transport::Node node;
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Check entity has not been created yet
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("spawned_model")));
// Run an iteration and check it was created
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 4, ecm->EntityCount());
entityCount = ecm->EntityCount();
auto model = ecm->EntityByComponents(components::Model(),
components::Name("spawned_model"));
EXPECT_NE(kNullEntity, model);
auto poseComp = ecm->Component<components::Pose>(model);
EXPECT_NE(nullptr, poseComp);
EXPECT_EQ(math::Pose3d(0, 0, 10, 0, 0, 0), poseComp->Data());
// Request to spawn same model and check if fails due to repeated name
req.Clear();
req.set_sdf(modelStr);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was not created
server.Run(true, 1, false);
EXPECT_EQ(entityCount, ecm->EntityCount());
// Enable renaming and check it is spawned with new name
req.Clear();
req.set_sdf(modelStr);
req.set_allow_renaming(true);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was created with a new name
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 4, ecm->EntityCount());
entityCount = ecm->EntityCount();
model = ecm->EntityByComponents(components::Model(),
components::Name("spawned_model_0"));
EXPECT_NE(kNullEntity, model);
// Spawn with a different name
req.Clear();
req.set_sdf(modelStr);
req.set_name("banana");
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was created with given name
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 4, ecm->EntityCount());
entityCount = ecm->EntityCount();
model = ecm->EntityByComponents(components::Model(),
components::Name("banana"));
EXPECT_NE(kNullEntity, model);
// Spawn a light
req.Clear();
req.set_sdf(lightStr);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was created
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 1, ecm->EntityCount());
entityCount = ecm->EntityCount();
auto light = ecm->EntityByComponents(components::Name("spawned_light"));
EXPECT_NE(kNullEntity, light);
EXPECT_NE(nullptr, ecm->Component<components::Light>(light));
// Request entity spawn
req.Clear();
req.mutable_light()->set_name("light_test");
req.mutable_light()->set_parent_id(1);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was created
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 1, ecm->EntityCount());
entityCount = ecm->EntityCount();
light = ecm->EntityByComponents(components::Name("light_test"));
EXPECT_NE(kNullEntity, light);
EXPECT_NE(nullptr, ecm->Component<components::Light>(light));
// Queue commands and check they're all executed in the same iteration
req.Clear();
req.set_sdf(modelStr);
req.set_name("acerola");
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
req.Clear();
req.set_sdf(modelStr);
req.set_name("coconut");
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Check neither exists yet
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("acerola")));
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("coconut")));
EXPECT_EQ(entityCount, ecm->EntityCount());
// Run an iteration and check both models were created
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 8, ecm->EntityCount());
entityCount = ecm->EntityCount();
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("acerola")));
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("coconut")));
// Try to spawn 2 entities at once
req.Clear();
req.set_sdf(lightsStr);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check only the 1st was created
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 1, ecm->EntityCount());
entityCount = ecm->EntityCount();
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(
components::Name("ignored_light")));
light = ecm->EntityByComponents(components::Name("accepted_light"));
EXPECT_NE(kNullEntity, light);
EXPECT_NE(nullptr, ecm->Component<components::Light>(light));
// Try to spawn a malformed SDF
req.Clear();
req.set_sdf(badStr);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check nothing was created
server.Run(true, 1, false);
EXPECT_EQ(entityCount, ecm->EntityCount());
// Spawn from file
auto testModel = common::joinPaths(PROJECT_SOURCE_PATH, "test", "media",
"test_model.sdf");
req.Clear();
req.set_sdf_filename(testModel);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was created
server.Run(true, 1, false);
EXPECT_EQ(entityCount + 4, ecm->EntityCount());
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("test_model")));
}
/////////////////////////////////////////////////
TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf";
serverConfig.SetSdfFile(sdfFile);
Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
// Create a system just to get the ECM
// TODO(louise) It would be much more convenient if the Server just returned
// the ECM for us. This would save all the trouble which is causing us to
// create `Relay` systems in the first place. Consider keeping the ECM in a
// shared pointer owned by the SimulationRunner.
EntityComponentManager *ecm{nullptr};
test::Relay testSystem;
testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &,
gazebo::EntityComponentManager &_ecm)
{
ecm = &_ecm;
});
server.AddSystem(testSystem.systemPtr);
// Run server and check we have the ECM
EXPECT_EQ(nullptr, ecm);
server.Run(true, 1, false);
EXPECT_NE(nullptr, ecm);
// Check entities
// 1 x world + 1 x (default) level + 1 x wind + 5 x model + 5 x link + 5 x
// collision + 5 x visual + 1 x light
EXPECT_EQ(24u, ecm->EntityCount());
// Entity remove by name
msgs::Entity req;
req.set_name("box");
req.set_type(msgs::Entity::MODEL);
msgs::Boolean res;
bool result;
unsigned int timeout = 5000;
std::string service{"/world/default/remove"};
transport::Node node;
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Check entity has not been removed yet
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("box")));
// Run an iteration and check it was removed
server.Run(true, 1, false);
EXPECT_EQ(20u, ecm->EntityCount());
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("box")));
// Entity remove by ID
auto sphereId = ecm->EntityByComponents(components::Model(),
components::Name("sphere"));
EXPECT_NE(kNullEntity, sphereId);
req.Clear();
req.set_id(sphereId);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Check entity has not been removed yet
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("sphere")));
// Run an iteration and check it was removed
server.Run(true, 1, false);
EXPECT_EQ(16u, ecm->EntityCount());
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("sphere")));
// Can't remove a link
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Link(),
components::Name("cylinder_link")));
req.Clear();
req.set_name("cylinder_link");
req.set_type(msgs::Entity::LINK);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was not removed
server.Run(true, 1, false);
EXPECT_EQ(16u, ecm->EntityCount());
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Link(),
components::Name("cylinder_link")));
// All fields present - ID is used
auto cylinderId = ecm->EntityByComponents(components::Model(),
components::Name("cylinder"));
EXPECT_NE(kNullEntity, cylinderId);
req.Clear();
req.set_id(cylinderId);
req.set_name("sun");
req.set_type(msgs::Entity::LIGHT);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check cylinder was removed and light wasn't
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("cylinder")));
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Name("sun")));
// Only name - fails to remove
auto lightId = ecm->EntityByComponents(components::Name("sun"));
EXPECT_NE(kNullEntity, lightId);
req.Clear();
req.set_name("sun");
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check nothing was removed
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Name("sun")));
// Inexistent entity - fails to remove
req.Clear();
req.set_id(9999);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check nothing was removed
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
// Unsupported type - fails to remove
req.Clear();
req.set_name("sun");
req.set_type(msgs::Entity::LINK);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check nothing was removed
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Name("sun")));
// Remove light
req.Clear();
req.set_name("sun");
req.set_type(msgs::Entity::LIGHT);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was removed
server.Run(true, 1, false);
EXPECT_EQ(11u, ecm->EntityCount());
EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Name("sun")));
}
/////////////////////////////////////////////////
TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose))
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf";
serverConfig.SetSdfFile(sdfFile);
Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
// Create a system just to get the ECM
EntityComponentManager *ecm{nullptr};
test::Relay testSystem;
testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &,
gazebo::EntityComponentManager &_ecm)
{
ecm = &_ecm;
});
server.AddSystem(testSystem.systemPtr);
// Run server and check we have the ECM
EXPECT_EQ(nullptr, ecm);
server.Run(true, 1, false);
EXPECT_NE(nullptr, ecm);
// Entity move by name
msgs::Pose req;
req.set_name("box");
req.mutable_position()->set_y(123.0);
msgs::Boolean res;
bool result;
unsigned int timeout = 5000;
std::string service{"/world/default/set_pose"};
transport::Node node;
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Box entity
auto boxEntity = ecm->EntityByComponents(components::Name("box"));
EXPECT_NE(kNullEntity, boxEntity);
// Check entity has not been moved yet
auto poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1), poseComp->Data());
// Run an iteration and check it was moved
server.Run(true, 1, false);
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(123.0, poseComp->Data().Pos().Y(), 0.2);
// Entity move by ID
req.Clear();
req.set_id(boxEntity);
req.mutable_position()->set_y(321.0);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Check entity has not been moved yet
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(123.0, poseComp->Data().Pos().Y(), 0.2);
// Run an iteration and check it was moved
server.Run(true, 1, false);
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(321.0, poseComp->Data().Pos().Y(), 0.2);
// Link entity
auto linkEntity = ecm->EntityByComponents(components::Name("box_link"));
EXPECT_NE(kNullEntity, linkEntity);
// Can't move a link
req.Clear();
req.set_id(linkEntity);
req.mutable_position()->set_y(123.0);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check it was not moved
server.Run(true, 1, false);
poseComp = ecm->Component<components::Pose>(linkEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_EQ(math::Pose3d(0.1, 0.1, 0.1, 0, 0, 0), poseComp->Data());
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(321.0, poseComp->Data().Pos().Y(), 0.2);
// All fields present - ID is used
req.Clear();
req.set_id(boxEntity);
req.set_name("sphere");
req.mutable_position()->set_y(456.0);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Run an iteration and check box was moved and sphere wasn't
server.Run(true, 1, false);
auto sphereEntity = ecm->EntityByComponents(components::Name("sphere"));
EXPECT_NE(kNullEntity, sphereEntity);
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(456.0, poseComp->Data().Pos().Y(), 0.2);
poseComp = ecm->Component<components::Pose>(sphereEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(0.0, poseComp->Data().Pos().Y(), 0.2);
// Inexistent entity - fails to move
req.Clear();
req.set_id(9999);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
server.Run(true, 1, false);
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(456.0, poseComp->Data().Pos().Y(), 0.2);
poseComp = ecm->Component<components::Pose>(sphereEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(0.0, poseComp->Data().Pos().Y(), 0.2);
// Entities move even when paused
req.Clear();
req.set_id(boxEntity);
req.mutable_position()->set_y(500.0);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Check entity has not been moved yet
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(456.0, poseComp->Data().Pos().Y(), 0.2);
// Run an iteration while in the paused state and check it was moved
// Note: server.Run(true, 1, true) does not return so we have to use the async
// Run function
server.Run(false, 1, true);
// Sleep for a small duration to allow Run thread to start
IGN_SLEEP_MS(10);
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(500.0, poseComp->Data().Pos().Y(), 0.2);
}
/////////////////////////////////////////////////
TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseVector))
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf";
serverConfig.SetSdfFile(sdfFile);
Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
// Create a system just to get the ECM
EntityComponentManager *ecm{nullptr};
test::Relay testSystem;
testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &,
gazebo::EntityComponentManager &_ecm)
{
ecm = &_ecm;
});
server.AddSystem(testSystem.systemPtr);
// Run server and check we have the ECM
EXPECT_EQ(nullptr, ecm);
server.Run(true, 1, false);
EXPECT_NE(nullptr, ecm);
// Entity move by name
msgs::Pose_V req;
auto poseBoxMsg = req.add_pose();
poseBoxMsg->set_name("box");
poseBoxMsg->mutable_position()->set_y(123.0);
auto poseSphereMsg = req.add_pose();
poseSphereMsg->set_name("sphere");
poseSphereMsg->mutable_position()->set_y(456.0);
msgs::Boolean res;
bool result;
unsigned int timeout = 5000;
std::string service{"/world/default/set_pose_vector"};
transport::Node node;
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
// Box entity
auto boxEntity = ecm->EntityByComponents(components::Name("box"));
EXPECT_NE(kNullEntity, boxEntity);
// Check entity has not been moved yet
auto poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1), poseComp->Data());
// Run an iteration and check it was moved
server.Run(true, 1, false);
poseComp = ecm->Component<components::Pose>(boxEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(123.0, poseComp->Data().Pos().Y(), 0.2);
auto sphereEntity = ecm->EntityByComponents(components::Name("sphere"));
EXPECT_NE(kNullEntity, sphereEntity);
poseComp = ecm->Component<components::Pose>(sphereEntity);
ASSERT_NE(nullptr, poseComp);
EXPECT_NEAR(456, poseComp->Data().Pos().Y(), 0.2);
}
/////////////////////////////////////////////////
// https://github.com/ignitionrobotics/ign-gazebo/issues/634
TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = ignition::common::joinPaths(
std::string(PROJECT_SOURCE_PATH), "test", "worlds", "lights_render.sdf");
serverConfig.SetSdfFile(sdfFile);
Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
// Create a system just to get the ECM
EntityComponentManager *ecm{nullptr};
test::Relay testSystem;
testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &,
gazebo::EntityComponentManager &_ecm)
{
ecm = &_ecm;
});
server.AddSystem(testSystem.systemPtr);
// Run server and check we have the ECM
EXPECT_EQ(nullptr, ecm);
server.Run(true, 1, false);
EXPECT_NE(nullptr, ecm);
msgs::Light req;
msgs::Boolean res;
transport::Node node;
bool result;
unsigned int timeout = 1000;
std::string service{"/world/lights_command/light_config"};
// Point light
auto pointLightEntity = ecm->EntityByComponents(components::Name("point"));
EXPECT_NE(kNullEntity, pointLightEntity);
// Check point light entity has not been edited yet - Initial values
auto pointLightComp = ecm->Component<components::Light>(pointLightEntity);
ASSERT_NE(nullptr, pointLightComp);
EXPECT_EQ(
math::Pose3d(0, -1.5, 3, 0, 0, 0), pointLightComp->Data().RawPose());
EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1.0f),
pointLightComp->Data().Diffuse());
EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1.0f),
pointLightComp->Data().Specular());
EXPECT_NEAR(4.0, pointLightComp->Data().AttenuationRange(), 0.1);
EXPECT_NEAR(0.5, pointLightComp->Data().LinearAttenuationFactor(), 0.1);
EXPECT_NEAR(0.2, pointLightComp->Data().ConstantAttenuationFactor(), 0.1);
EXPECT_NEAR(0.01, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1);
EXPECT_FALSE(pointLightComp->Data().CastShadows());
EXPECT_TRUE(pointLightComp->Data().Visualize());
req.Clear();
ignition::msgs::Set(req.mutable_diffuse(),
ignition::math::Color(0.0f, 1.0f, 1.0f, 0.0f));
ignition::msgs::Set(req.mutable_specular(),
ignition::math::Color(0.2f, 0.2f, 0.2f, 0.2f));
req.set_range(2.6f);
req.set_name("point");
req.set_type(ignition::msgs::Light::POINT);
req.set_attenuation_linear(0.7f);
req.set_attenuation_constant(0.6f);
req.set_attenuation_quadratic(0.001f);
req.set_cast_shadows(true);
req.set_visualize_visual(false);
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(true);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
server.Run(true, 100, false);
// Sleep for a small duration to allow Run thread to start
IGN_SLEEP_MS(10);
// Check point light entity has been edited using the service
pointLightComp = ecm->Component<components::Light>(pointLightEntity);
ASSERT_NE(nullptr, pointLightComp);
EXPECT_EQ(math::Color(0.0f, 1.0f, 1.0f, 0.0f),
pointLightComp->Data().Diffuse());
EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 0.2f),
pointLightComp->Data().Specular());
EXPECT_NEAR(2.6, pointLightComp->Data().AttenuationRange(), 0.1);
EXPECT_NEAR(0.7, pointLightComp->Data().LinearAttenuationFactor(), 0.1);
EXPECT_NEAR(0.6, pointLightComp->Data().ConstantAttenuationFactor(), 0.1);
EXPECT_NEAR(0.001, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1);
EXPECT_TRUE(pointLightComp->Data().CastShadows());
EXPECT_FALSE(pointLightComp->Data().Visualize());
EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type());
// Check directional light entity has not been edited yet - Initial values
auto directionalLightEntity = ecm->EntityByComponents(
components::Name("directional"));
EXPECT_NE(kNullEntity, directionalLightEntity);
auto directionalLightComp =
ecm->Component<components::Light>(directionalLightEntity);
ASSERT_NE(nullptr, directionalLightComp);
EXPECT_EQ(
math::Pose3d(0, 0, 10, 0, 0, 0), directionalLightComp->Data().RawPose());
EXPECT_EQ(math::Color(0.8f, 0.8f, 0.8f, 1.0f),
directionalLightComp->Data().Diffuse());
EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1.0f),
directionalLightComp->Data().Specular());
EXPECT_NEAR(100, directionalLightComp->Data().AttenuationRange(), 0.1);
EXPECT_NEAR(
0.01, directionalLightComp->Data().LinearAttenuationFactor(), 0.01);
EXPECT_NEAR(
0.9, directionalLightComp->Data().ConstantAttenuationFactor(), 0.1);
EXPECT_NEAR(
0.001, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.001);
EXPECT_EQ(
math::Vector3d(0.5, 0.2, -0.9), directionalLightComp->Data().Direction());
EXPECT_TRUE(directionalLightComp->Data().CastShadows());
EXPECT_TRUE(directionalLightComp->Data().Visualize());
EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type());
req.Clear();
ignition::msgs::Set(req.mutable_diffuse(),
ignition::math::Color(0.0f, 1.0f, 1.0f, 0.0f));
ignition::msgs::Set(req.mutable_specular(),
ignition::math::Color(0.3f, 0.3f, 0.3f, 0.3f));
req.set_range(2.6f);
req.set_name("directional");
req.set_type(ignition::msgs::Light::DIRECTIONAL);
req.set_attenuation_linear(0.7f);
req.set_attenuation_constant(0.6f);
req.set_attenuation_quadratic(1.0f);
req.set_cast_shadows(false);
req.set_visualize_visual(false);
ignition::msgs::Set(req.mutable_direction(),
ignition::math::Vector3d(1, 2, 3));
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
server.Run(true, 100, false);
// Sleep for a small duration to allow Run thread to start
IGN_SLEEP_MS(10);
// Check directional light entity has been edited using the service
directionalLightComp =
ecm->Component<components::Light>(directionalLightEntity);
ASSERT_NE(nullptr, directionalLightComp);
EXPECT_EQ(math::Color(0.0f, 1.0f, 1.0f, 0.0f),
directionalLightComp->Data().Diffuse());
EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f, 0.3f),
directionalLightComp->Data().Specular());
EXPECT_NEAR(2.6, directionalLightComp->Data().AttenuationRange(), 0.1);
EXPECT_NEAR(
0.7, directionalLightComp->Data().LinearAttenuationFactor(), 0.1);
EXPECT_NEAR(
0.6, directionalLightComp->Data().ConstantAttenuationFactor(), 0.1);
EXPECT_NEAR(
1, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.1);
EXPECT_EQ(math::Vector3d(1, 2, 3), directionalLightComp->Data().Direction());
EXPECT_FALSE(directionalLightComp->Data().CastShadows());
EXPECT_FALSE(directionalLightComp->Data().Visualize());
EXPECT_EQ(sdf::LightType::DIRECTIONAL,
directionalLightComp->Data().Type());
// spot light
auto spotLightEntity = ecm->EntityByComponents(
components::Name("spot"));
EXPECT_NE(kNullEntity, spotLightEntity);
// Check spot light entity has not been edited yet - Initial values
auto spotLightComp =
ecm->Component<components::Light>(spotLightEntity);
ASSERT_NE(nullptr, spotLightComp);
EXPECT_EQ(math::Pose3d(0, 1.5, 3, 0, 0, 0), spotLightComp->Data().RawPose());
EXPECT_EQ(math::Color(0.0f, 1.0f, 0.0f, 1.0f),
spotLightComp->Data().Diffuse());
EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1.0f),
spotLightComp->Data().Specular());
EXPECT_NEAR(5, spotLightComp->Data().AttenuationRange(), 0.1);
EXPECT_NEAR(0.4, spotLightComp->Data().LinearAttenuationFactor(), 0.01);
EXPECT_NEAR(0.3, spotLightComp->Data().ConstantAttenuationFactor(), 0.1);
EXPECT_NEAR(
0.001, spotLightComp->Data().QuadraticAttenuationFactor(), 0.001);
EXPECT_EQ(math::Vector3d(0, 0, -1), spotLightComp->Data().Direction());
EXPECT_FALSE(spotLightComp->Data().CastShadows());
EXPECT_TRUE(spotLightComp->Data().Visualize());
EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type());
EXPECT_NEAR(0.1, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1);
EXPECT_NEAR(0.5, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1);
EXPECT_NEAR(0.8, spotLightComp->Data().SpotFalloff(), 0.1);
req.Clear();
ignition::msgs::Set(req.mutable_diffuse(),
ignition::math::Color(1.0f, 0.0f, 1.0f, 0.0f));
ignition::msgs::Set(req.mutable_specular(),
ignition::math::Color(0.3f, 0.3f, 0.3f, 0.3f));
req.set_range(2.6f);
req.set_name("spot");
req.set_type(ignition::msgs::Light::SPOT);
req.set_attenuation_linear(0.7f);
req.set_attenuation_constant(0.6f);
req.set_attenuation_quadratic(1.0f);
req.set_cast_shadows(true);
req.set_visualize_visual(true);
ignition::msgs::Set(req.mutable_direction(),
ignition::math::Vector3d(1, 2, 3));
req.set_spot_inner_angle(1.5f);
req.set_spot_outer_angle(0.3f);
req.set_spot_falloff(0.9f);
EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
server.Run(true, 100, false);
// Sleep for a small duration to allow Run thread to start
IGN_SLEEP_MS(10);
// Check spot light entity has been edited using the service