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Expose the ability to stop a server #1551

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merged 4 commits into from
Jun 24, 2022
Merged

Expose the ability to stop a server #1551

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4ab4475
Expose the ability to stop a server
Jun 24, 2022
40c37d2
Use joinPaths
Jun 24, 2022
46664f1
join paths
chapulina Jun 24, 2022
38ab456
more commas
chapulina Jun 24, 2022
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3 changes: 3 additions & 0 deletions include/ignition/gazebo/Server.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -285,6 +285,9 @@ namespace ignition
bool _recursive = true,
const unsigned int _worldIndex = 0);

/// \brief Stop the server. This will stop all running simulations.
public: void Stop();

/// \brief Private data
private: std::unique_ptr<ServerPrivate> dataPtr;
};
Expand Down
6 changes: 6 additions & 0 deletions src/Server.cc
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Expand Up @@ -377,3 +377,9 @@ bool Server::RequestRemoveEntity(const Entity _entity,

return false;
}

//////////////////////////////////////////////////
void Server::Stop()
{
this->dataPtr->Stop();
}
56 changes: 40 additions & 16 deletions src/Server_TEST.cc
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Expand Up @@ -231,8 +231,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin))
// Start server
ServerConfig serverConfig;
serverConfig.SetUpdateRate(10000);
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf");
serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"/test/worlds/shapes.sdf"));
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sdf::ElementPtr sdf(new sdf::Element);
sdf->SetName("plugin");
Expand Down Expand Up @@ -338,8 +338,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig))
EXPECT_FALSE(serverConfig.SdfString().empty());

// Setting the SDF file should override the string.
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf");
serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"/test/worlds/shapes.sdf"));
EXPECT_FALSE(serverConfig.SdfFile().empty());
EXPECT_TRUE(serverConfig.SdfString().empty());

Expand Down Expand Up @@ -407,8 +407,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig))
/////////////////////////////////////////////////
TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord))
{
auto logPath = common::joinPaths(
std::string(PROJECT_BINARY_PATH), "test_log_path");
auto logPath = common::joinPaths(PROJECT_BINARY_PATH, "test_log_path");
auto logFile = common::joinPaths(logPath, "state.tlog");
auto compressedFile = logPath + ".zip";

Expand Down Expand Up @@ -447,8 +446,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord))
TEST_P(ServerFixture,
IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecordCompress))
{
auto logPath = common::joinPaths(
std::string(PROJECT_BINARY_PATH), "test_log_path");
auto logPath = common::joinPaths(PROJECT_BINARY_PATH, "test_log_path");
auto logFile = common::joinPaths(logPath, "state.tlog");
auto compressedFile = logPath + ".zip";

Expand Down Expand Up @@ -480,8 +478,8 @@ TEST_P(ServerFixture, SdfStringServerConfig)
{
ignition::gazebo::ServerConfig serverConfig;

serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf");
serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"/test/worlds/shapes.sdf"));
EXPECT_FALSE(serverConfig.SdfFile().empty());
EXPECT_TRUE(serverConfig.SdfString().empty());

Expand Down Expand Up @@ -796,8 +794,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning))
{
ignition::gazebo::ServerConfig serverConfig;

serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf");
serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"/test/worlds/shapes.sdf"));

gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
Expand Down Expand Up @@ -844,8 +842,8 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad))
{
ignition::gazebo::ServerConfig serverConfig;

serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/shapes.sdf");
serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
"/test/worlds/shapes.sdf"));

gazebo::Server server(serverConfig);
EXPECT_FALSE(server.Running());
Expand Down Expand Up @@ -917,8 +915,8 @@ TEST_P(ServerFixture, Seed)
TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath))
{
ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH",
(std::string(PROJECT_SOURCE_PATH) + "/test/worlds:" +
std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models").c_str());
(common::joinPaths(PROJECT_SOURCE_PATH, "/test/worlds:") +
common::joinPaths(PROJECT_SOURCE_PATH, "/test/worlds/models")).c_str());

ServerConfig serverConfig;
serverConfig.SetSdfFile("resource_paths.sdf");
Expand Down Expand Up @@ -1172,6 +1170,32 @@ TEST_P(ServerFixture, ResolveResourcePaths)
"include_nested", "model.sdf"), true);
}

/////////////////////////////////////////////////
TEST_P(ServerFixture, Stop)
{
// Start server
ServerConfig serverConfig;
serverConfig.SetUpdateRate(10000);
serverConfig.SetSdfFile(common::joinPaths((PROJECT_SOURCE_PATH),
"/test/worlds/shapes.sdf"));

gazebo::Server server(serverConfig);

// The simulation runner should not be running.
EXPECT_FALSE(*server.Running(0));
EXPECT_FALSE(server.Running());

// Run the server.
EXPECT_TRUE(server.Run(false, 0, false));
EXPECT_TRUE(*server.Running(0));
EXPECT_TRUE(server.Running());

// Stop the server
server.Stop();
EXPECT_FALSE(*server.Running(0));
EXPECT_FALSE(server.Running());
}

// 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));