👩‍🌾 Refactor UNIT_Server_TEST: move tests to integration

src/Server_TEST.cc

@@ -18,7 +18,6 @@
 #include <gtest/gtest.h>
 #include <csignal>
 #include <vector>
-#include <ignition/common/Console.hh>
 #include <ignition/common/StringUtils.hh>
 #include <ignition/common/Util.hh>
 #include <ignition/math/Rand.hh>
@@ -39,23 +38,12 @@
 
 #include "plugins/MockSystem.hh"
 #include "../test/helpers/Relay.hh"
+#include "../test/helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace ignition::gazebo;
 using namespace std::chrono_literals;
 
-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);
- }
-};
-
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, DefaultServerConfig)
 {
@@ -624,79 +612,6 @@ TEST_P(ServerFixture, SigInt)
  EXPECT_FALSE(*server.Running(0));
 }
 
-/////////////////////////////////////////////////
-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));
-}
-
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, AddSystemWhileRunning)
 {
@@ -902,32 +817,6 @@ TEST_P(ServerFixture, GetResourcePaths)
  EXPECT_EQ("/home/user/another_path", res.data(1));
 }
 
-/////////////////////////////////////////////////
-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));
-}
-
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, AddResourcePaths)
 {

test/helpers/EnvTestFixture.hh

@@ -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

test/integration/CMakeLists.txt

@@ -17,6 +17,7 @@ set(tests
  events.cc
  examples_build.cc
  follow_actor_system.cc
+ fuel_cached_server.cc
  imu_system.cc
  joint_controller_system.cc
  joint_position_controller_system.cc
@@ -31,6 +32,7 @@ set(tests
  magnetometer_system.cc
  model.cc
  multicopter.cc
+ multiple_servers.cc
  network_handshake.cc
  performer_detector.cc
  physics_system.cc

test/integration/fuel_cached_server.cc

@@ -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));

test/integration/multiple_servers.cc

@@ -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));