-
Notifications
You must be signed in to change notification settings - Fork 266
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
👩🌾 Refactor UNIT_Server_TEST: move tests to integration (#594)
Move several server interactions and fuel cached to their own tests in integration. Signed-off-by: Jose Luis Rivero <[email protected]>
- Loading branch information
Showing
5 changed files
with
200 additions
and
112 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| /* | ||
| * Copyright (C) 2020 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. | ||
| * | ||
| */ | ||
| #ifndef IGNITION_GAZEBO_TEST_HELPERS_ENVTESTFIXTURE_HH_ | ||
| #define IGNITION_GAZEBO_TEST_HELPERS_ENVTESTFIXTURE_HH_ | ||
|
|
||
| #include <gtest/gtest.h> | ||
|
|
||
| #include <ignition/common/Console.hh> | ||
| #include "ignition/gazebo/test_config.hh" | ||
|
|
||
| class ServerFixture : public ::testing::TestWithParam<int> | ||
| { | ||
| protected: void SetUp() override | ||
| { | ||
| // Augment the system plugin path. In SetUp to avoid test order issues. | ||
| setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", | ||
| (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); | ||
|
|
||
| ignition::common::Console::SetVerbosity(4); | ||
| } | ||
| }; | ||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| /* | ||
| * Copyright (C) 2018 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/gazebo/Server.hh" | ||
| #include "ignition/gazebo/ServerConfig.hh" | ||
|
|
||
| #include "../test/helpers/EnvTestFixture.hh" | ||
|
|
||
| using namespace ignition; | ||
| using namespace ignition::gazebo; | ||
| using namespace std::chrono_literals; | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| TEST_P(ServerFixture, CachedFuelWorld) | ||
| { | ||
| auto cachedWorldPath = | ||
| common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds"); | ||
| setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1); | ||
|
|
||
| ServerConfig serverConfig; | ||
| auto fuelWorldURL = | ||
| "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world"; | ||
| EXPECT_TRUE(serverConfig.SetSdfFile(fuelWorldURL)); | ||
|
|
||
| EXPECT_EQ(fuelWorldURL, serverConfig.SdfFile()); | ||
| EXPECT_TRUE(serverConfig.SdfString().empty()); | ||
|
|
||
| // Check that world was loaded | ||
| auto server = Server(serverConfig); | ||
| EXPECT_NE(std::nullopt, server.Running(0)); | ||
| EXPECT_FALSE(*server.Running(0)); | ||
|
|
||
| server.Run(true /*blocking*/, 1, false/*paused*/); | ||
|
|
||
| EXPECT_NE(std::nullopt, server.Running(0)); | ||
| EXPECT_FALSE(*server.Running(0)); | ||
| } | ||
|
|
||
| // Run multiple times. We want to make sure that static globals don't cause | ||
| // problems. | ||
| INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2)); |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,104 @@ | ||
| /* | ||
| * Copyright (C) 2018 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/gazebo/Server.hh" | ||
| #include "ignition/gazebo/ServerConfig.hh" | ||
|
|
||
| #include "../test/helpers/EnvTestFixture.hh" | ||
|
|
||
| using namespace ignition; | ||
| using namespace ignition::gazebo; | ||
| using namespace std::chrono_literals; | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| TEST_P(ServerFixture, TwoServersNonBlocking) | ||
| { | ||
| ignition::gazebo::ServerConfig serverConfig; | ||
| serverConfig.SetSdfString(TestWorldSansPhysics::World()); | ||
|
|
||
| gazebo::Server server1(serverConfig); | ||
| gazebo::Server server2(serverConfig); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| EXPECT_EQ(0u, *server1.IterationCount()); | ||
| EXPECT_EQ(0u, *server2.IterationCount()); | ||
|
|
||
| // Make the servers run fast. | ||
| server1.SetUpdatePeriod(1ns); | ||
| server2.SetUpdatePeriod(1ns); | ||
|
|
||
| // Start non-blocking | ||
| const size_t iters1 = 9999; | ||
| EXPECT_TRUE(server1.Run(false, iters1, false)); | ||
|
|
||
| // Expect that we can't start another instance. | ||
| EXPECT_FALSE(server1.Run(true, 10, false)); | ||
|
|
||
| // It's okay to start another server | ||
| EXPECT_TRUE(server2.Run(false, 500, false)); | ||
|
|
||
| while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500) | ||
| IGN_SLEEP_MS(100); | ||
|
|
||
| EXPECT_EQ(iters1, *server1.IterationCount()); | ||
| EXPECT_EQ(500u, *server2.IterationCount()); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| TEST_P(ServerFixture, TwoServersMixedBlocking) | ||
| { | ||
| ignition::gazebo::ServerConfig serverConfig; | ||
| serverConfig.SetSdfString(TestWorldSansPhysics::World()); | ||
|
|
||
| gazebo::Server server1(serverConfig); | ||
| gazebo::Server server2(serverConfig); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| EXPECT_EQ(0u, *server1.IterationCount()); | ||
| EXPECT_EQ(0u, *server2.IterationCount()); | ||
|
|
||
| // Make the servers run fast. | ||
| server1.SetUpdatePeriod(1ns); | ||
| server2.SetUpdatePeriod(1ns); | ||
|
|
||
| server1.Run(false, 10, false); | ||
| server2.Run(true, 1000, false); | ||
|
|
||
| while (*server1.IterationCount() < 10) | ||
| IGN_SLEEP_MS(100); | ||
|
|
||
| EXPECT_EQ(10u, *server1.IterationCount()); | ||
| EXPECT_EQ(1000u, *server2.IterationCount()); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| } | ||
|
|
||
| // Run multiple times. We want to make sure that static globals don't cause | ||
| // problems. | ||
| INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2)); |