Added a test

Signed-off-by: Nate Koenig <[email protected]>

test/integration/CMakeLists.txt

@@ -7,6 +7,7 @@ set(tests
  battery_plugin.cc
  breadcrumbs.cc
  buoyancy.cc
+ collada_world_exporter.cc
  components.cc
  contact_system.cc
  detachable_joint.cc

test/integration/collada_world_exporter.cc

@@ -0,0 +1,79 @@
+/*
+ * 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Filesystem.hh>
+
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/test_config.hh"
+
+#include "helpers/UniqueTestDirectoryEnv.hh"
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+class ColladaWorldExporterFixture : public ::testing::Test
+{
+ public: void SetUp() override
+ {
+ ignition::common::Console::SetVerbosity(4);
+ }
+
+ public: void LoadWorld(const std::string &_path)
+ {
+ ServerConfig serverConfig;
+ serverConfig.SetResourceCache(test::UniqueTestDirectoryEnv::Path());
+ serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, _path));
+
+ std::cout << "Loading: " << serverConfig.SdfFile() << std::endl;
+ this->server = std::make_unique<Server>(serverConfig);
+ EXPECT_FALSE(server->Running());
+ }
+
+ public: std::unique_ptr<Server> server;
+};
+
+/////////////////////////////////////////////////
+TEST_F(ColladaWorldExporterFixture, ExportWorld)
+{
+ this->LoadWorld("test/worlds/collada_world_exporter.sdf");
+
+ // The export directory shouldn't exist.
+ EXPECT_FALSE(common::exists("./collada_world_exporter_box_test"));
+
+ // Run one iteration which should export the world.
+ server->Run(true, 1, false);
+
+ // The export directory should now exist.
+ EXPECT_TRUE(common::exists("./collada_world_exporter_box_test"));
+
+ // Cleanup
+ common::removeAll("./collada_world_exporter_box_test");
+}
+
+/////////////////////////////////////////////////
+/// Main
+int main(int _argc, char **_argv)
+{
+ ::testing::InitGoogleTest(&_argc, _argv);
+ ::testing::AddGlobalTestEnvironment(
+ new test::UniqueTestDirectoryEnv("save_world_test_cache"));
+ return RUN_ALL_TESTS();
+}

test/worlds/collada_world_exporter.sdf

@@ -0,0 +1,47 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+ <world name="collada_world_exporter_box_test">
+
+ <plugin
+ filename="ignition-gazebo-collada-world-exporter-system"
+ name="ignition::gazebo::systems::ColladaWorldExporter">
+ </plugin>
+
+ <model name="box">
+ <pose>0 0 0.5 0 0 0</pose>
+ <link name="box_link">
+ <inertial>
+ <inertia>
+ <ixx>1</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>1</iyy>
+ <iyz>0</iyz>
+ <izz>1</izz>
+ </inertia>
+ <mass>1.0</mass>
+ </inertial>
+ <collision name="box_collision">
+ <geometry>
+ <box>
+ <size>1 1 1</size>
+ </box>
+ </geometry>
+ </collision>
+
+ <visual name="box_visual">
+ <geometry>
+ <box>
+ <size>1 1 1</size>
+ </box>
+ </geometry>
+ <material>
+ <ambient>1 0 0 1</ambient>
+ <diffuse>1 0 0 1</diffuse>
+ <specular>1 0 0 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+ </world>
+</sdf>