Skip to content

Commit

Permalink
First version of new model command for ign-gazebo
Browse files Browse the repository at this point in the history 
Signed-off-by: Marcos Wagner <wagnermarcos@ekumenlabs.com>
  • Loading branch information
@WagnerMarcos
WagnerMarcos committed Jul 1, 2021
1 parent dd9f7b5 commit 5e33380
Show file tree
Hide file tree
Showing 9 changed files with 1,300 additions and 1 deletion.
4 changes: 3 additions & 1 deletion CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,9 @@ set(IGNITION_GAZEBO_GUI_PLUGIN_INSTALL_DIR
#============================================================================
# Configure the build
#============================================================================
ign_configure_build(QUIT_IF_BUILD_ERRORS)
ign_configure_build(QUIT_IF_BUILD_ERRORS
COMPONENTS model
)

add_subdirectory(examples)

Expand Down
36 changes: 36 additions & 0 deletions model/src/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,36 @@
ign_get_libsources_and_unittests(sources gtest_sources)
list(APPEND sources cmd/ModelCommandAPI.cc)

ign_add_component(model SOURCES ${sources} GET_TARGET_NAME model_lib_target)


if (MSVC)
# Warning #4251 is the "dll-interface" warning that tells you when types used
# by a class are not being exported. These generated source files have private
# members that don't get exported, so they trigger this warning. However, the
# warning is not important since those members do not need to be interfaced
# with.
set_source_files_properties(${sources} ${gtest_sources} COMPILE_FLAGS "/wd4251 /wd4146")
endif()

# Unit tests
ign_build_tests(
TYPE "UNIT"
SOURCES ${gtest_sources}
LIB_DEPS ${EXTRA_TEST_LIB_DEPS}
TEST_LIST model_tests
)

if(TARGET UNIT_ModelCommandAPI_TEST)

target_compile_definitions(UNIT_ModelCommandAPI_TEST PRIVATE
"IGN_PATH=\"${IGNITION-TOOLS_BINARY_DIRS}\"")

target_compile_definitions(UNIT_ModelCommandAPI_TEST PRIVATE
"PROJECT_SOURCE_PATH=\"${PROJECT_SOURCE_DIR}\"")

endif()

if(NOT WIN32)
add_subdirectory(cmd)
endif()
333 changes: 333 additions & 0 deletions model/src/ModelCommandAPI_TEST.cc
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,333 @@
/*
* 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 "cmd/ModelCommandAPI.hh"

#include <cstdio>
#include <cstdlib>
#include <string>

#include <gtest/gtest.h>

#include "ignition/gazebo/Server.hh"

static const std::string kIgnModelCommand(std::string(IGN_PATH) +
"/ign model ");


/////////////////////////////////////////////////
// Used to avoid the cases where the zero is represented as a negative number.
std::string ReplaceNegativeZeroValues(std::string s)
{
std::string neg_zero{"-0.000000"};
std::string zero{"0.000000"};
size_t pos = 0;
while ((pos = s.find(neg_zero, pos)) != std::string::npos)
{
s.replace(pos, neg_zero.length(), zero);
pos += zero.length();
}
return s;
}

/////////////////////////////////////////////////
std::string customExecStr(std::string _cmd)
{
_cmd += " 2>&1";
FILE *pipe = popen(_cmd.c_str(), "r");

if (!pipe)
return "ERROR";

char buffer[128];
std::string result = "";

while (!feof(pipe))
{
if (fgets(buffer, 128, pipe) != nullptr)
{
result += buffer;
}
}

pclose(pipe);
return result;
}

// Test `ign model` command when no Gazebo server is running.
TEST(ModelCommandAPI, NoServerRunning)
{
const std::string cmd = kIgnModelCommand + "--list ";
const std::string output = customExecStr(cmd);
const std::string expectedOutput{
"\nService call to [/gazebo/worlds] timed out\n"};
EXPECT_EQ(expectedOutput, output);
}

// Tests `ign model` command.
TEST(ModelCommandAPI, Commands)
{
ignition::gazebo::ServerConfig serverConfig;
// Using an static model to avoid any movements in the simulation.
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/static_diff_drive_vehicle.sdf");

ignition::gazebo::Server server(serverConfig);
// Run at least one iteration before continuing to guarantee correctly set up.
ASSERT_TRUE(server.Run(true, 5, false));
// Run without blocking.
server.Run(false, 0, false);

// Tested command: ign model --list
{
const std::string cmd = kIgnModelCommand + "--list";
const std::string output = customExecStr(cmd);
const std::string expectedOutput =
"Available models:\n"
" - ground_plane\n"
" - vehicle_blue\n";
EXPECT_EQ(expectedOutput, output);
}

// Tested command: ign model -m vehicle_blue
{
const std::string cmd = kIgnModelCommand + "-m vehicle_blue";
const std::string output = customExecStr(cmd);
const std::string non_neg_zero_output = ReplaceNegativeZeroValues(output);
const std::string expectedOutput =
"\nRequesting state for world [diff_drive] on service "
"[/world/diff_drive/state]...\n\n"
"Name: vehicle_blue\n"
" - Pose: \n"
" [0.000000 | 2.000000 | 0.325000]\n"
" [0.000000 | 0.000000 | 0.000000]\n"
"\n"
" - Link [9]\n"
" - Name: chassis\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [1.143950]\n"
" - Inertial Matrix: \n"
" [0.126164 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.416519 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.481014]\n"
" - Pose: \n"
" [-0.151427 | 0.000000 | 0.175000]\n"
" [0.000000 | 0.000000 | 0.000000]\n"
" - Link [12]\n"
" - Name: left_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [2.000000]\n"
" - Inertial Matrix: \n"
" [0.145833 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.145833 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.125000]\n"
" - Pose: \n"
" [0.554283 | 0.625029 | -0.025000]\n"
" [-1.570700 | 0.000000 | 0.000000]\n"
" - Link [15]\n"
" - Name: right_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [2.000000]\n"
" - Inertial Matrix: \n"
" [0.145833 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.145833 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.125000]\n"
" - Pose: \n"
" [0.554282 | -0.625029 | -0.025000]\n"
" [-1.570700 | 0.000000 | 0.000000]\n"
" - Link [18]\n"
" - Name: caster\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [1.000000]\n"
" - Inertial Matrix: \n"
" [0.100000 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.100000 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.100000]\n"
" - Pose: \n"
" [-0.957138 | 0.000000 | -0.125000]\n"
" [0.000000 | 0.000000 | 0.000000]\n"
" - Joint [21]\n"
" - Name: left_wheel_joint\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: revolute\n"
" - Parent Link: [left_wheel]\n"
" - Child Link: [chassis]\n"
" - Joint [22]\n"
" - Name: right_wheel_joint\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: revolute\n"
" - Parent Link: [right_wheel]\n"
" - Child Link: [chassis]\n"
" - Joint [23]\n"
" - Name: caster_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: ball\n"
" - Parent Link: [caster]\n"
" - Child Link: [chassis]\n";
EXPECT_EQ(expectedOutput, non_neg_zero_output);
}

// Tested command: ign model -m vehicle_blue --pose
{
const std::string cmd = kIgnModelCommand + "-m vehicle_blue --pose ";
const std::string output = customExecStr(cmd);
const std::string non_neg_zero_output = ReplaceNegativeZeroValues(output);
const std::string expectedOutput =
"\nRequesting state for world [diff_drive] on service "
"[/world/diff_drive/state]...\n\n"
"Name: vehicle_blue\n"
" - Pose: \n"
" [0.000000 | 2.000000 | 0.325000]\n"
" [0.000000 | 0.000000 | 0.000000]\n\n";
EXPECT_EQ(expectedOutput, non_neg_zero_output);
}

// Tested command: ign model -m vehicle_blue --link
{
const std::string cmd = kIgnModelCommand +
"-m vehicle_blue --link";
const std::string output = customExecStr(cmd);
const std::string non_neg_zero_output = ReplaceNegativeZeroValues(output);
const std::string expectedOutput =
"\nRequesting state for world [diff_drive] on service "
"[/world/diff_drive/state]...\n\n"

" - Link [9]\n"
" - Name: chassis\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [1.143950]\n"
" - Inertial Matrix: \n"
" [0.126164 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.416519 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.481014]\n"
" - Pose: \n"
" [-0.151427 | 0.000000 | 0.175000]\n"
" [0.000000 | 0.000000 | 0.000000]\n"
" - Link [12]\n"
" - Name: left_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [2.000000]\n"
" - Inertial Matrix: \n"
" [0.145833 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.145833 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.125000]\n"
" - Pose: \n"
" [0.554283 | 0.625029 | -0.025000]\n"
" [-1.570700 | 0.000000 | 0.000000]\n"
" - Link [15]\n"
" - Name: right_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [2.000000]\n"
" - Inertial Matrix: \n"
" [0.145833 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.145833 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.125000]\n"
" - Pose: \n"
" [0.554282 | -0.625029 | -0.025000]\n"
" [-1.570700 | 0.000000 | 0.000000]\n"
" - Link [18]\n"
" - Name: caster\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [1.000000]\n"
" - Inertial Matrix: \n"
" [0.100000 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.100000 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.100000]\n"
" - Pose: \n"
" [-0.957138 | 0.000000 | -0.125000]\n"
" [0.000000 | 0.000000 | 0.000000]\n";
EXPECT_EQ(expectedOutput, non_neg_zero_output);
}

// Tested command: ign model -m vehicle_blue --link caster
{
const std::string cmd = kIgnModelCommand +
"-m vehicle_blue --link caster";
const std::string output = customExecStr(cmd);
const std::string non_neg_zero_output = ReplaceNegativeZeroValues(output);
const std::string expectedOutput =
"\nRequesting state for world [diff_drive] on service "
"[/world/diff_drive/state]...\n\n"
" - Link [18]\n"
" - Name: caster\n"
" - Parent: vehicle_blue [8]\n"
" - Mass: [1.000000]\n"
" - Inertial Matrix: \n"
" [0.100000 | 0.000000 | 0.000000]\n"
" [0.000000 | 0.100000 | 0.000000]\n"
" [0.000000 | 0.000000 | 0.100000]\n"
" - Pose: \n"
" [-0.957138 | 0.000000 | -0.125000]\n"
" [0.000000 | 0.000000 | 0.000000]\n";
EXPECT_EQ(expectedOutput, non_neg_zero_output);
}

// Tested command: ign model -m vehicle_blue --joint
{
const std::string cmd = kIgnModelCommand +
"-m vehicle_blue --joint";
const std::string output = customExecStr(cmd);
const std::string non_neg_zero_output = ReplaceNegativeZeroValues(output);
const std::string expectedOutput =
"\nRequesting state for world [diff_drive] on service "
"[/world/diff_drive/state]...\n\n"
" - Joint [21]\n"
" - Name: left_wheel_joint\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: revolute\n"
" - Parent Link: [left_wheel]\n"
" - Child Link: [chassis]\n"
" - Joint [22]\n"
" - Name: right_wheel_joint\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: revolute\n"
" - Parent Link: [right_wheel]\n"
" - Child Link: [chassis]\n"
" - Joint [23]\n"
" - Name: caster_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: ball\n"
" - Parent Link: [caster]\n"
" - Child Link: [chassis]\n";
EXPECT_EQ(expectedOutput, non_neg_zero_output);
}

// Tested command: ign model -m vehicle_blue --joint caster_wheel
{
const std::string cmd = kIgnModelCommand +
"-m vehicle_blue --joint caster_wheel";
const std::string output = customExecStr(cmd);
const std::string non_neg_zero_output = ReplaceNegativeZeroValues(output);
const std::string expectedOutput =
"\nRequesting state for world [diff_drive] on service "
"[/world/diff_drive/state]...\n\n"
" - Joint [23]\n"
" - Name: caster_wheel\n"
" - Parent: vehicle_blue [8]\n"
" - Joint type: ball\n"
" - Parent Link: [caster]\n"
" - Child Link: [chassis]\n";
EXPECT_EQ(expectedOutput, non_neg_zero_output);
}
}

//////////////////////////////////////////////////
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
Loading

0 comments on commit 5e33380

Please sign in to comment.