Added MarkerManager Test

Signed-off-by: ahcorde <[email protected]>

src/plugins/marker_manager/CMakeLists.txt

@@ -5,4 +5,6 @@ ign_gui_add_plugin(MarkerManager
  MarkerManager.hh
  PUBLIC_LINK_LIBS
  ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+ TEST_SOURCES
+ MarkerManager_TEST.cc
 )

src/plugins/marker_manager/MarkerManager_TEST.cc

@@ -0,0 +1,167 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif
+#include <ignition/msgs.hh>
+#include <ignition/rendering.hh>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include <gtest/gtest.h>
+#include <string>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Filesystem.hh>
+#include <ignition/transport/Node.hh>
+#include <ignition/utilities/ExtraTestMacros.hh>
+
+#include "test_config.h" // NOLINT(build/include)
+#include "ignition/gui/Application.hh"
+#include "ignition/gui/GuiEvents.hh"
+#include "ignition/gui/MainWindow.hh"
+#include "ignition/gui/Plugin.hh"
+#include "MarkerManager.hh"
+
+int g_argc = 1;
+char* g_argv[] =
+{
+ reinterpret_cast<char*>(const_cast<char*>("./MarkerMmanager_TEST")),
+};
+
+using namespace std::chrono_literals;
+
+using namespace ignition;
+using namespace gui;
+
+class MarkerManagerTestFixture : public ::testing::Test
+{
+
+ public:
+ ignition::transport::Node node;
+
+ void waitAndSendStatsMsgs(
+ std::chrono::steady_clock::duration &timePoint, int maxSleep)
+ {
+ ignition::msgs::WorldStatistics msgWorldStatistics;
+ // Periodic pose updated
+ auto statsPub =
+ node.Advertise<ignition::msgs::WorldStatistics>("/world/example/stats");
+
+ // Give it time to be processed
+ int sleep = 0;
+ while (sleep < maxSleep)
+ {
+ timePoint += 100ms;
+ msgWorldStatistics.set_real_time_factor(1);
+
+ auto s = std::chrono::duration_cast<std::chrono::seconds>(timePoint);
+ auto ns =
+ std::chrono::duration_cast<std::chrono::nanoseconds>(timePoint-s);
+
+ msgWorldStatistics.mutable_sim_time()->set_sec(s.count());
+ msgWorldStatistics.mutable_sim_time()->set_nsec(ns.count());
+ statsPub.Publish(msgWorldStatistics);
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ QCoreApplication::processEvents();
+ sleep++;
+ }
+ }
+};
+
+/////////////////////////////////////////////////
+TEST_F(MarkerManagerTestFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(MarkerManager))
+{
+ common::Console::SetVerbosity(4);
+
+ // Load the plugin
+ Application app(g_argc, g_argv);
+ app.AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
+
+ EXPECT_TRUE(app.LoadPlugin("MinimalScene"));
+ EXPECT_TRUE(app.LoadPlugin("MarkerManager"));
+
+ // Get main window
+ auto window = app.findChild<MainWindow *>();
+ ASSERT_NE(window, nullptr);
+
+ // Get plugin
+ auto plugins = window->findChildren<Plugin *>();
+ EXPECT_EQ(plugins.size(), 2);
+
+ // Show, but don't exec, so we don't block
+ window->QuickWindow()->show();
+
+ // Check scene
+ auto engine = rendering::engine("ogre");
+ ASSERT_NE(nullptr, engine);
+
+ int sleep = 0;
+ int maxSleep = 30;
+ while (0 == engine->SceneCount() && sleep < maxSleep)
+ {
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ QCoreApplication::processEvents();
+ sleep++;
+ }
+
+ EXPECT_EQ(1u, engine->SceneCount());
+ auto scene = engine->SceneByName("scene");
+ ASSERT_NE(nullptr, scene);
+
+ std::chrono::steady_clock::duration timePoint =
+ std::chrono::steady_clock::duration::zero();
+
+ // Create the marker message
+ ignition::msgs::Marker markerMsg;
+ ignition::msgs::Material matMsg;
+ markerMsg.set_ns("default");
+ markerMsg.set_id(0);
+ markerMsg.set_action(ignition::msgs::Marker::ADD_MODIFY);
+ markerMsg.set_type(ignition::msgs::Marker::SPHERE);
+ markerMsg.set_visibility(ignition::msgs::Marker::GUI);
+
+ // Add a sphere that will be remove after 2 seconds
+ markerMsg.mutable_material()->mutable_ambient()->set_r(0);
+ markerMsg.mutable_material()->mutable_ambient()->set_g(0);
+ markerMsg.mutable_material()->mutable_ambient()->set_b(1);
+ markerMsg.mutable_material()->mutable_ambient()->set_a(1);
+ markerMsg.mutable_material()->mutable_diffuse()->set_r(0);
+ markerMsg.mutable_material()->mutable_diffuse()->set_g(0);
+ markerMsg.mutable_material()->mutable_diffuse()->set_b(1);
+ markerMsg.mutable_material()->mutable_diffuse()->set_a(1);
+ markerMsg.mutable_lifetime()->set_sec(2);
+ markerMsg.mutable_lifetime()->set_nsec(0);
+ ignition::msgs::Set(markerMsg.mutable_scale(),
+ ignition::math::Vector3d(1.0, 1.0, 1.0));
+
+ ignition::msgs::Set(markerMsg.mutable_pose(),
+ ignition::math::Pose3d(2, 2, 0, 0, 0, 0));
+ EXPECT_EQ(0u, scene->VisualCount());
+ node.Request("/marker", markerMsg);
+
+ waitAndSendStatsMsgs(timePoint, 10);
+ EXPECT_EQ(1u, scene->VisualCount());
+ waitAndSendStatsMsgs(timePoint, 20);
+ EXPECT_EQ(0u, scene->VisualCount());
+
+ // Cleanup
+ plugins.clear();
+}