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Fixed Fortress tests related to lights #1827

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Merged
merged 2 commits into from
Dec 1, 2022
Merged

Fixed Fortress tests related to lights #1827

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28db590
Fixed Fortress tests related to lights
ahcorde Dec 1, 2022
ac9eaa2
Fix gui tests
ahcorde Dec 1, 2022
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20 changes: 11 additions & 9 deletions src/SdfEntityCreator_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -107,8 +107,9 @@ TEST_F(SdfEntityCreatorTest, CreateEntities)
EXPECT_TRUE(this->ecm.HasComponentType(components::LaserRetro::typeId));

// Check entities
// 1 x world + 5 x model + 5 x link + 5 x collision + 5 x visual + 1 x light
EXPECT_EQ(22u, this->ecm.EntityCount());
// 1 x world + 5 x model + 5 x link + 5 x collision + 5 x visual +
// 1 x light (light + visual)
EXPECT_EQ(23u, this->ecm.EntityCount());

// Check worlds
unsigned int worldCount{0};
Expand Down Expand Up @@ -684,8 +685,8 @@ TEST_F(SdfEntityCreatorTest, CreateLights)
creator.CreateEntities(root.WorldByIndex(0));

// Check entities
// 1 x world + 1 x model + 1 x link + 1 x visual + 4 x light
EXPECT_EQ(8u, this->ecm.EntityCount());
// 1 x world + 1 x model + 1 x link + 1 x visual + 4 x light (light + visual)
EXPECT_EQ(12u, this->ecm.EntityCount());

// Check worlds
unsigned int worldCount{0};
Expand Down Expand Up @@ -1106,8 +1107,9 @@ TEST_F(SdfEntityCreatorTest, RemoveEntities)
creator.CreateEntities(root.WorldByIndex(0));

// Check entities
// 1 x world + 4 x model + 4 x link + 4 x collision + 4 x visual + 1 x light
EXPECT_EQ(22u, this->ecm.EntityCount());
// 1 x world + 4 x model + 4 x link + 4 x collision + 4 x visual
// + 1 x light (light + visual)
EXPECT_EQ(23u, this->ecm.EntityCount());

auto world = this->ecm.EntityByComponents(components::World());
EXPECT_NE(kNullEntity, world);
Expand All @@ -1133,7 +1135,7 @@ TEST_F(SdfEntityCreatorTest, RemoveEntities)
creator.RequestRemoveEntity(models.front());
this->ecm.ProcessEntityRemovals();

EXPECT_EQ(18u, this->ecm.EntityCount());
EXPECT_EQ(19u, this->ecm.EntityCount());

models = this->ecm.ChildrenByComponents(world, components::Model());
ASSERT_EQ(4u, models.size());
Expand All @@ -1156,7 +1158,7 @@ TEST_F(SdfEntityCreatorTest, RemoveEntities)
creator.RequestRemoveEntity(models.front(), false);
this->ecm.ProcessEntityRemovals();

EXPECT_EQ(17u, this->ecm.EntityCount());
EXPECT_EQ(18u, this->ecm.EntityCount());

// There's only 1 model left
models = this->ecm.ChildrenByComponents(world, components::Model());
Expand Down Expand Up @@ -1210,7 +1212,7 @@ TEST_F(SdfEntityCreatorTest, RemoveEntities)
visualCount++;
return true;
});
EXPECT_EQ(4u, visualCount);
EXPECT_EQ(5u, visualCount);
}

template <typename... Ts>
Expand Down
4 changes: 2 additions & 2 deletions src/Server_TEST.cc
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Expand Up @@ -348,7 +348,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig))
EXPECT_FALSE(*server.Running(0));
EXPECT_TRUE(*server.Paused());
EXPECT_EQ(0u, *server.IterationCount());
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());
EXPECT_EQ(3u, *server.SystemCount());

EXPECT_TRUE(server.HasEntity("box"));
Expand Down Expand Up @@ -391,7 +391,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig))
EXPECT_FALSE(*server.Running(0));
EXPECT_TRUE(*server.Paused());
EXPECT_EQ(0u, *server.IterationCount());
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());
EXPECT_EQ(3u, *server.SystemCount());

EXPECT_TRUE(server.HasEntity("box"));
Expand Down
8 changes: 4 additions & 4 deletions src/SimulationRunner_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -150,8 +150,8 @@ TEST_P(SimulationRunnerTest, CreateEntities)

// 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, runner.EntityCompMgr().EntityCount());
// collision + 5 x visual + 1 x light (light + visual)
EXPECT_EQ(25u, runner.EntityCompMgr().EntityCount());

// Check worlds
unsigned int worldCount{0};
Expand Down Expand Up @@ -656,8 +656,8 @@ TEST_P(SimulationRunnerTest, CreateLights)

// Check entities
// 1 x world + 1 x (default) level + 1 x wind + 1 x model + 1 x link + 1 x
// visual + 4 x light
EXPECT_EQ(10u, runner.EntityCompMgr().EntityCount());
// visual + 4 x light (light + visual)
EXPECT_EQ(14u, runner.EntityCompMgr().EntityCount());

// Check worlds
unsigned int worldCount{0};
Expand Down
6 changes: 4 additions & 2 deletions src/gui/Gui_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,10 @@
#include "../../test/helpers/EnvTestFixture.hh"

int gg_argc = 1;
char **gg_argv = new char *[gg_argc];
char* gg_argv[] =
{
reinterpret_cast<char*>(const_cast<char*>("./gui_test")),
};

using namespace ignition;
using namespace ignition::gazebo::gui;
Expand Down Expand Up @@ -269,4 +272,3 @@ TEST_F(GuiTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(QuickStart))
app->exec();
checkingThread.join();
}

2 changes: 1 addition & 1 deletion test/integration/log_system.cc
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Expand Up @@ -759,7 +759,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback))
msgs::SerializedStateMap stateMsg;
stateMsg.ParseFromString(recordedIter->Data());
// entity size = 28 in dbl pendulum + 4 in nested model
EXPECT_EQ(32, stateMsg.entities_size());
EXPECT_EQ(33, stateMsg.entities_size());
EXPECT_NE(batch.end(), ++recordedIter);

// Playback config
Expand Down
8 changes: 4 additions & 4 deletions test/integration/recreate_entities.cc
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Expand Up @@ -135,8 +135,8 @@ TEST_F(RecreateEntitiesFixture,

// 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());
// collision + 5 x visual + 1 x light (light + visual)
EXPECT_EQ(25u, ecm->EntityCount());

Entity worldEntity =
ecm->EntityByComponents(components::World());
Expand Down Expand Up @@ -379,8 +379,8 @@ TEST_F(RecreateEntitiesFixture,
{
// 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(48u, ecm->EntityCount());
// collision + 5 x visual + 1 x light (light + visual)
EXPECT_EQ(49u, ecm->EntityCount());

Entity worldEntity =
ecm->EntityByComponents(components::World());
Expand Down
24 changes: 12 additions & 12 deletions test/integration/scene_broadcaster_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo))
gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());

// Create pose subscriber
transport::Node node;
Expand All @@ -76,15 +76,15 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo))
ASSERT_TRUE(_msg.header().has_stamp());
EXPECT_LT(0, _msg.header().stamp().sec() + _msg.header().stamp().nsec());

EXPECT_EQ(16, _msg.pose_size());
EXPECT_EQ(17, _msg.pose_size());

std::map<int, std::string> entityMap;
for (auto p = 0; p < _msg.pose_size(); ++p)
{
entityMap.insert(std::make_pair(_msg.pose(p).id(), _msg.pose(p).name()));
}

EXPECT_EQ(16u, entityMap.size());
EXPECT_EQ(17u, entityMap.size());

received = true;
};
Expand Down Expand Up @@ -114,7 +114,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo))
gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());

// Run server
server.Run(true, 1, false);
Expand Down Expand Up @@ -160,7 +160,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph))
gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());

// Run server
server.Run(true, 1, false);
Expand Down Expand Up @@ -200,7 +200,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopic))
gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());

// Create requester
transport::Node node;
Expand Down Expand Up @@ -297,7 +297,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeletedTopic))
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

const std::size_t initEntityCount = 24;
const std::size_t initEntityCount = 25;
EXPECT_EQ(initEntityCount, *server.EntityCount());

// Subscribe to deletions
Expand Down Expand Up @@ -358,7 +358,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel))
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

const std::size_t initEntityCount = 24;
const std::size_t initEntityCount = 25;
EXPECT_EQ(initEntityCount, *server.EntityCount());

server.Run(true, 1, false);
Expand Down Expand Up @@ -427,7 +427,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State))
gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(24u, *server.EntityCount());
EXPECT_EQ(25u, *server.EntityCount());
transport::Node node;

// Run server
Expand Down Expand Up @@ -457,7 +457,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State))
[&](const msgs::SerializedStepMap &_res, const bool _success)
{
EXPECT_TRUE(_success);
checkMsg(_res, 24);
checkMsg(_res, 25);
};
std::function<void(const msgs::SerializedStepMap &)> cb2 =
[&](const msgs::SerializedStepMap &_res)
Expand All @@ -469,7 +469,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State))
std::function<void(const msgs::SerializedStepMap &)> cbAsync =
[&](const msgs::SerializedStepMap &_res)
{
checkMsg(_res, 24);
checkMsg(_res, 25);
};

// The request is blocking even though it's meant to be async, so we spin a
Expand Down Expand Up @@ -538,7 +538,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic))
gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));
EXPECT_EQ(8u, *server.EntityCount());
EXPECT_EQ(9u, *server.EntityCount());
transport::Node node;

// Run server
Expand Down
24 changes: 12 additions & 12 deletions test/integration/user_commands.cc
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Expand Up @@ -219,7 +219,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create))
// Run an iteration and check it was created
server.Run(true, 1, false);

EXPECT_EQ(entityCount + 1, ecm->EntityCount());
EXPECT_EQ(entityCount + 2, ecm->EntityCount());
entityCount = ecm->EntityCount();

auto light = ecm->EntityByComponents(components::Name("spawned_light"));
Expand All @@ -238,7 +238,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create))
// Run an iteration and check it was created
server.Run(true, 1, false);

EXPECT_EQ(entityCount + 1, ecm->EntityCount());
EXPECT_EQ(entityCount + 2, ecm->EntityCount());
entityCount = ecm->EntityCount();

light = ecm->EntityByComponents(components::Name("light_test"));
Expand Down Expand Up @@ -292,7 +292,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create))
// Run an iteration and check only the 1st was created
server.Run(true, 1, false);

EXPECT_EQ(entityCount + 1, ecm->EntityCount());
EXPECT_EQ(entityCount + 2, ecm->EntityCount());
entityCount = ecm->EntityCount();

EXPECT_EQ(kNullEntity, ecm->EntityByComponents(
Expand Down Expand Up @@ -369,8 +369,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// 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());
// collision + 5 x visual + 1 x light (light + visual)
EXPECT_EQ(25u, ecm->EntityCount());

// Entity remove by name
msgs::Entity req;
Expand All @@ -393,7 +393,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check it was removed
server.Run(true, 1, false);
EXPECT_EQ(20u, ecm->EntityCount());
EXPECT_EQ(21u, ecm->EntityCount());

EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("box")));
Expand All @@ -416,7 +416,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check it was removed
server.Run(true, 1, false);
EXPECT_EQ(16u, ecm->EntityCount());
EXPECT_EQ(17u, ecm->EntityCount());

EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("sphere")));
Expand All @@ -435,7 +435,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check it was not removed
server.Run(true, 1, false);
EXPECT_EQ(16u, ecm->EntityCount());
EXPECT_EQ(17u, ecm->EntityCount());

EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Link(),
components::Name("cylinder_link")));
Expand All @@ -456,7 +456,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check cylinder was removed and light wasn't
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_EQ(13u, ecm->EntityCount());

EXPECT_EQ(kNullEntity, ecm->EntityByComponents(components::Model(),
components::Name("cylinder")));
Expand All @@ -475,7 +475,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check nothing was removed
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_EQ(13u, ecm->EntityCount());

EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Name("sun")));

Expand All @@ -489,7 +489,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check nothing was removed
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_EQ(13u, ecm->EntityCount());

// Unsupported type - fails to remove
req.Clear();
Expand All @@ -502,7 +502,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove))

// Run an iteration and check nothing was removed
server.Run(true, 1, false);
EXPECT_EQ(12u, ecm->EntityCount());
EXPECT_EQ(13u, ecm->EntityCount());

EXPECT_NE(kNullEntity, ecm->EntityByComponents(components::Name("sun")));

Expand Down