gazebosim · mjcarroll · Nov 9, 2022 · Oct 31, 2022 · Oct 31, 2022 · Nov 1, 2022
@@ -110,6 +110,7 @@ endif()
 
 # Tests that require a valid display
 set(tests_needing_display
+  Server_Rendering_TEST.cc
 )
 
 if(NOT GENERATOR_IS_MULTI_CONFIG)
@@ -197,6 +198,13 @@ gz_build_tests(TYPE UNIT
     gz-sim${PROJECT_VERSION_MAJOR}
 )
 
+# Some server unit tests require rendering.
+if (TARGET UNIT_Server_Rendering_TEST)
+ target_link_libraries(UNIT_Server_Rendering_TEST
+    gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
+  )
+endif()
+
 # Command line tests need extra settings
 foreach(CMD_TEST
   UNIT_gz_TEST

@@ -113,12 +113,32 @@ Server::Server(const ServerConfig &_config)
 
       gzmsg << "Loading SDF world file[" << filePath << "].\n";
 
+      sdf::Root sdfRoot;
       // \todo(nkoenig) Async resource download.
       // This call can block for a long period of time while
       // resources are downloaded. Blocking here causes the GUI to block with
       // a black screen (search for "Async resource download" in
       // 'src/gui_main.cc'.
-      errors = this->dataPtr->sdfRoot.Load(filePath);
+      errors = sdfRoot.Load(filePath);
+      if (errors.empty()) {
+        if (sdfRoot.Model() == nullptr) {
+          this->dataPtr->sdfRoot = std::move(sdfRoot);
+        }
+        else
+        {
+          // If the specified file only contains a model, load the default
+          // world and add the model to it.
+          errors = this->dataPtr->sdfRoot.LoadSdfString(DefaultWorld::World());
+          sdf::World *world = this->dataPtr->sdfRoot.WorldByIndex(0);
+          if (world == nullptr) {
+            return;
+          }
+          world->AddModel(*sdfRoot.Model());
+          if (errors.empty()) {
+            errors = this->dataPtr->sdfRoot.UpdateGraphs();
+          }
+        }
+      }
       break;
     }
 

@@ -0,0 +1,165 @@
+/*
+ * Copyright (C) 2022 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 <gz/rendering/RenderEngine.hh>
+#include <gz/rendering/RenderingIface.hh>
+#include <gz/sim/rendering/Events.hh>
+#include <gz/rendering/Scene.hh>
+#include <gz/utils/ExtraTestMacros.hh>
+
+#include "gz/sim/Server.hh"
+#include "gz/sim/System.hh"
+
+#include "plugins/MockSystem.hh"
+#include "../test/helpers/Relay.hh"
+#include "../test/helpers/EnvTestFixture.hh"
+
+using namespace gz;
+using namespace gz::sim;
+
+/////////////////////////////////////////////////
+class ServerFixture : public InternalFixture<::testing::Test>
+{
+};
+
+/////////////////////////////////////////////////
+TEST_F(ServerFixture, LoadSdfModel)
+{
+  gz::sim::ServerConfig serverConfig;
+
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "models", "sphere", "model.sdf"));
+
+  sim::Server server = Server(serverConfig);
+  EXPECT_TRUE(server.HasEntity("sphere"));
+}
+
+/////////////////////////////////////////////////
+TEST_F(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_MAC(LoadSdfModelRelativeUri))
+{
+
+  class CheckMeshPlugin:
+    public System,
+    public gz::sim::ISystemConfigure,
+    public gz::sim::ISystemPreUpdate
+  {
+    private: common::ConnectionPtr connection{nullptr};
+
+    private: rendering::ScenePtr scene{nullptr};
+
+    private: EventManager *eventMgr{nullptr};
+
+    void FindScene()
+    {
+      auto loadedEngNames = gz::rendering::loadedEngines();
+      ASSERT_EQ(loadedEngNames.size(), 1);
+
+      auto engineName = loadedEngNames[0];
+      auto engine = gz::rendering::engine(engineName);
+      ASSERT_TRUE(engine);
+      ASSERT_EQ(engine->SceneCount(), 1);
+
+      auto scenePtr = engine->SceneByIndex(0);
+      ASSERT_NE(scenePtr, nullptr);
+      ASSERT_TRUE(scenePtr->IsInitialized());
+      ASSERT_NE(scenePtr->RootVisual(), nullptr);
+
+      this->scene = scenePtr;
+    };
+
+    private: void CheckMeshes(){
+      if (this->scene == nullptr){
+        this->FindScene();
+      }
+
+      std::shared_ptr<rendering::Visual> v1 = this->scene->VisualByName(
+        "relative_resource_uri::L1::V1"
+      );
+      // There's only one geometry under this visual, which has to be the mesh.
+      EXPECT_EQ(v1->GeometryCount(), 1);
+      std::shared_ptr<rendering::Geometry> v1Geom = v1->GeometryByIndex(0);
+      // Attempt to cast the geometry into a mesh, in order to determine that
+      // the mesh has been properly loaded.
+      std::shared_ptr<rendering::Mesh> v1Mesh =
+        std::dynamic_pointer_cast<rendering::Mesh>(v1Geom);
+      EXPECT_NE(v1Mesh, nullptr);
+
+      std::shared_ptr<rendering::Visual> v2 = this->scene->VisualByName(
+        "relative_resource_uri::L1::V2"
+      );
+      // There should be no geometries under this visual, as the mesh file
+      // refers to a non-existent file, and the mesh should not be loaded.
+      EXPECT_EQ(v2->GeometryCount(), 0);
+    }
+
+    public: void Configure(
+      const Entity &,
+      const std::shared_ptr<const sdf::Element> &,
+      EntityComponentManager &,
+      EventManager &_eventMgr
+    )
+    {
+      // Register CheckMeshes with the PreRender event.
+      this->connection =
+        _eventMgr.Connect<events::PreRender>(
+          std::bind(&CheckMeshPlugin::CheckMeshes, this)
+        );
+      this->eventMgr = &_eventMgr;
+    };
+
+    public: void PreUpdate(const UpdateInfo &, EntityComponentManager &)
+    {
+      // Emit a ForceRender event so the PreRender event is triggered.
+      this->eventMgr->Emit<events::ForceRender>();
+    };
+  };
+
+  gz::sim::ServerConfig serverConfig;
+
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "models", "relative_resource_uri", "model2.sdf"));
+
+  // Add the Sensors plugin so rendering is available.
+  sdf::Plugin sdfSensorsPlugin = sdf::Plugin(
+    "gz-sim-sensors-system",
+    "gz::sim::systems::Sensors",
+    "<render_engine>ogre2</render_engine>"
+  );
+  ServerConfig::PluginInfo sensorsPluginInfo = ServerConfig::PluginInfo(
+    "default",
+    "world",
+    sdfSensorsPlugin
+  );
+  serverConfig.AddPlugin(sensorsPluginInfo);
+
+  sim::Server server = Server(serverConfig);
+  EXPECT_TRUE(server.HasEntity("relative_resource_uri"));
+  EXPECT_TRUE(server.HasEntity("L1"));
+  EXPECT_TRUE(server.HasEntity("V1"));
+  EXPECT_TRUE(server.HasEntity("V2"));
+
+  std::shared_ptr<CheckMeshPlugin> meshChecker =
+    std::make_shared<CheckMeshPlugin>();
+  std::optional<bool> meshCheckerAddSuccess = server.AddSystem(meshChecker);
+  ASSERT_TRUE(meshCheckerAddSuccess);
+  if (meshCheckerAddSuccess) {
+    ASSERT_TRUE(meshCheckerAddSuccess.value());
+  }
+  ASSERT_TRUE(server.RunOnce());
+  ASSERT_TRUE(server.RunOnce(false));
+}
@@ -0,0 +1,108 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
+    </contributor>
+    <created>2015-05-26T11:01:50</created>
+    <modified>2015-05-26T11:01:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.2 0.2 0.2 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.9 0.9 0.9 1</color>
+            </ambient>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.08616e-7 -1.19209e-7 2.08616e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map">
+          <float_array id="Cube-mesh-map-array" count="72">0.004854381 0.6715211 0.3284789 0.671521 0.3284789 0.9951456 0.9951456 0.6618123 0.6715211 0.6618123 0.6715211 0.3381878 0.00485444 0.6618123 0.004854321 0.3381878 0.3284789 0.3381878 0.004854321 0.00485444 0.3284789 0.004854321 0.3284789 0.3284789 0.9951457 0.3284789 0.6715211 0.3284789 0.6715211 0.00485444 0.6618123 0.004854381 0.6618123 0.3284788 0.3381878 0.3284789 0.004854321 0.9951456 0.004854381 0.6715211 0.3284789 0.9951456 0.9951456 0.3381877 0.9951456 0.6618123 0.6715211 0.3381878 0.3284791 0.6618123 0.00485444 0.6618123 0.3284789 0.3381878 0.004854381 0.328479 0.004854321 0.00485444 0.3284789 0.3284789 0.9951457 0.004854321 0.9951457 0.3284789 0.6715211 0.00485444 0.3381877 0.004854321 0.6618123 0.004854381 0.3381878 0.3284789</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.3999998 0 0 0 0 0.4 0 0 0 0 0.4 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
@@ -0,0 +1,27 @@
+<?xml version='1.0'?>
+
+<!-- Note that some of the meshes don't exist. -->
+
+<sdf version='1.6'>
+  <model name='relative_resource_uri'>
+    <pose>0 0 1 0 0 0</pose>
+    <link name='L1'>
+      <visual name='V1'>
+        <geometry>
+          <mesh>
+            <uri>meshes/box.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='V2'>
+        <pose>1 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/nonexistent.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
+