Garden test cleanup (#587)

This cleans up physics tests in a few ways: Consolidate TestUtilities.hh and test/Utils.hh Move test headers to test/include/test Move mock headers to test/include/mock Create an INTERFACE library for test/mock headers that sets common compiler definitions as well as common libraries to link against Remove all instances of hardcoded world names or resource names and instead use constants. Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Jan 30, 2024 · 8e1aca6 · 8e1aca6
1 parent 5367620
commit 8e1aca6
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Showing 77 changed files with 382 additions and 1,818 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -42,6 +42,9 @@ gz_find_package(gz-common5
   REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
+# This is only used for test support
+gz_find_package(gz-common5 REQUIRED COMPONENTS testing)
+
 #--------------------------------------
 # Find gz-math
 gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
@@ -90,8 +93,6 @@ gz_find_package(GzBullet
 
 message(STATUS "-------------------------------------------\n")
 
-set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
-
 # Plugin install dirs
 set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR
   ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins

diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
@@ -84,22 +84,21 @@ gz_build_tests(
   LIB_DEPS
     ${features}
     ${dartsim_plugin}
-    gz-plugin${GZ_PLUGIN_VER}::loader
-    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-physics-test
     gz-common${GZ_COMMON_VER}::geospatial
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
   TEST_LIST tests
   ENVIRONMENT
-    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+  INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
 
 foreach(test ${tests})
-
   target_compile_definitions(${test} PRIVATE
-    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\""
-    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
-    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
+    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
 
   if (DART_HAS_CONTACT_SURFACE_HEADER)
     target_compile_definitions(${test} PRIVATE DART_HAS_CONTACT_SURFACE)
@@ -108,10 +107,3 @@ foreach(test ${tests})
   # Helps when we want to build a single test after making changes to dartsim_plugin
   add_dependencies(${test} ${dartsim_plugin})
 endforeach()
-
-foreach(test UNIT_FindFeatures_TEST UNIT_RequestFeatures_TEST)
-  if(TARGET ${test})
-    target_compile_definitions(${test} PRIVATE
-      "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
-  endif()
-endforeach()
diff --git a/dartsim/src/AddedMassFeatures_TEST.cc b/dartsim/src/AddedMassFeatures_TEST.cc
@@ -39,6 +39,7 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
+#include "Worlds.hh"
 
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::GetEntities,
@@ -121,7 +122,7 @@ TEST(AddedMassFeatures, AddedMass)
     0, 0, 0, 0, 1, 0,
     0, 0, 0, 0, 0, 1;
 
-  auto world = LoadWorld(TEST_WORLD_DIR"/added_mass.sdf");
+  const auto world = LoadWorld(dartsim::worlds::kAddedMassSdf);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();

diff --git a/dartsim/src/Base_TEST.cc b/dartsim/src/Base_TEST.cc
@@ -38,8 +38,9 @@
 #include "EntityManagementFeatures.hh"
 #include "SDFFeatures.hh"
 
-using namespace gz::physics;
+#include "test/Resources.hh"
 
+using namespace gz::physics;
 
 
 TEST(BaseClass, RemoveModel)
@@ -166,7 +167,7 @@ TEST(BaseClass, SdfConstructionBookkeeping)
 
   ::sdf::Root root;
 
-  auto errors = root.Load(GZ_PHYSICS_RESOURCE_DIR "/rrbot.xml");
+  auto errors = root.Load(gz::physics::test::resources::kRrbotXml);
   ASSERT_TRUE(errors.empty());
   const ::sdf::Model *sdfModel = root.Model();
   ASSERT_NE(nullptr, sdfModel);

diff --git a/dartsim/src/EntityManagement_TEST.cc b/dartsim/src/EntityManagement_TEST.cc
@@ -35,6 +35,8 @@
 #include "KinematicsFeatures.hh"
 #include "ShapeFeatures.hh"
 
+#include "test/Resources.hh"
+
 using namespace gz;
 
 struct TestFeatureList : physics::FeatureList<
@@ -172,8 +174,7 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto meshLink = model->ConstructEmptyLink("mesh_link");
   meshLink->AttachFixedJoint(child, "fixed");
 
-  const std::string meshFilename = common::joinPaths(
-      GZ_PHYSICS_RESOURCE_DIR, "chassis.dae");
+  const std::string meshFilename = gz::physics::test::resources::kChassisDae;
   auto &meshManager = *common::MeshManager::Instance();
   auto *mesh = meshManager.Load(meshFilename);
 
@@ -212,8 +213,7 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto heightmapLink = model->ConstructEmptyLink("heightmap_link");
   heightmapLink->AttachFixedJoint(child, "heightmap_joint");
 
-  auto heightmapFilename = common::joinPaths(
-      GZ_PHYSICS_RESOURCE_DIR, "heightmap_bowl.png");
+  auto heightmapFilename = gz::physics::test::resources::kHeightmapBowlPng;
   common::ImageHeightmap data;
   EXPECT_EQ(0, data.Load(heightmapFilename));
 
@@ -239,8 +239,7 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto demLink = model->ConstructEmptyLink("dem_link");
   demLink->AttachFixedJoint(child, "dem_joint");
 
-  auto demFilename = common::joinPaths(
-      GZ_PHYSICS_RESOURCE_DIR, "volcano.tif");
+  auto demFilename = gz::physics::test::resources::kVolcanoTif;
   common::Dem dem;
   EXPECT_EQ(0, dem.Load(demFilename));
 

diff --git a/dartsim/src/SDFFeatures_TEST.cc b/dartsim/src/SDFFeatures_TEST.cc
@@ -53,6 +53,8 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
+#include <test/common_test/Worlds.hh>
+#include "Worlds.hh"
 
 using namespace gz;
 
@@ -313,7 +315,7 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_TEST,
 // Test that the dartsim plugin loaded all the relevant information correctly.
 TEST_P(SDFFeatures_TEST, CheckDartsimData)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/test.world");
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -421,7 +423,7 @@ TEST_P(SDFFeatures_TEST, CheckDartsimData)
 // Test that joint limits are working by running the simulation
 TEST_P(SDFFeatures_TEST, CheckJointLimitEnforcement)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/test.world");
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -581,7 +583,7 @@ TEST_P(SDFFeatures_TEST, WorldIsParentOrChild)
 TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 {
   WorldPtr world =
-      this->LoadWorld(TEST_WORLD_DIR "/world_with_nested_model.sdf");
+    this->LoadWorld(common_test::worlds::kWorldWithNestedModelSdf);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(2u, world->GetModelCount());
 
@@ -646,7 +648,7 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 {
   WorldPtr world = this->LoadWorld(
-      TEST_WORLD_DIR "/world_with_nested_model_joint_to_world.sdf");
+    dartsim::worlds::kWorldWithNestedModelJointToWorldSdf);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(1u, world->GetModelCount());
 
@@ -690,7 +692,7 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 // Test that joint type falls back to fixed if the type is not supported
 TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/test.world");
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -717,7 +719,7 @@ TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 TEST_P(SDFFeatures_TEST, JointsAcrossNestedModels)
 {
   WorldPtr world = this->LoadWorld(
-      TEST_WORLD_DIR "/joint_across_nested_models.sdf");
+    dartsim::worlds::kJointAcrossNestedModelsSdf);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -775,7 +777,7 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_FrameSemantics,
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "link_relative_to";
 
@@ -807,7 +809,7 @@ TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, CollisionRelativeTo)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "collision_relative_to";
 
@@ -844,7 +846,7 @@ TEST_P(SDFFeatures_FrameSemantics, CollisionRelativeTo)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithLinks)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "explicit_frames_with_links";
 
@@ -891,7 +893,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithLinks)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithCollision)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/model_frames.sdf");
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kModelFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "explicit_frames_with_collisions";
 
@@ -928,7 +930,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitFramesWithCollision)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 {
-  WorldPtr world = this->LoadWorld(TEST_WORLD_DIR"/world_frames.sdf");
+  WorldPtr world = this->LoadWorld(dartsim::worlds::kWorldFramesSdf);
   ASSERT_NE(nullptr, world);
   const std::string modelName = "M";
 
@@ -938,7 +940,6 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
   const dart::dynamics::SkeletonPtr skeleton =
       dartWorld->getSkeleton(modelName);
 
-
   ASSERT_NE(nullptr, skeleton);
   ASSERT_EQ(1u, skeleton->getNumBodyNodes());
 
@@ -965,7 +966,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, Shapes)
 {
-  auto world = this->LoadWorld(TEST_WORLD_DIR"/shapes.sdf");
+  WorldPtr world = this->LoadWorld(common_test::worlds::kShapesWorld);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();
@@ -974,7 +975,7 @@ TEST_P(SDFFeatures_TEST, Shapes)
   ASSERT_EQ(5u, dartWorld->getNumSkeletons());
 
   int count{0};
-  for (auto name : {"box", "cylinder", "sphere", "capsule", "ellipsoid"})
+  for (auto name : {"sphere", "box", "cylinder", "capsule", "ellipsoid"})
   {
     const auto skeleton = dartWorld->getSkeleton(count++);
     ASSERT_NE(nullptr, skeleton);

diff --git a/dartsim/src/WorldFeatures_TEST.cc b/dartsim/src/WorldFeatures_TEST.cc
@@ -32,6 +32,7 @@
 #include <sdf/World.hh>
 
 #include "test/Utils.hh"
+#include "test/common_test/Worlds.hh"
 
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::CollisionDetector,
@@ -82,8 +83,7 @@ TestWorldPtr LoadWorld(
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, CollisionDetector)
 {
-  auto world = LoadWorld(this->engine,
-    gz::common::joinPaths(TEST_WORLD_DIR, "empty.sdf"));
+  const auto world = LoadWorld(this->engine, common_test::worlds::kEmptySdf);
   EXPECT_EQ("ode", world->GetCollisionDetector());
 
   world->SetCollisionDetector("banana");
@@ -105,8 +105,7 @@ TEST_F(WorldFeaturesFixture, CollisionDetector)
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, Solver)
 {
-  auto world = LoadWorld(this->engine,
-    gz::common::joinPaths(TEST_WORLD_DIR, "empty.sdf"));
+  const auto world = LoadWorld(this->engine, common_test::worlds::kEmptySdf);
 
   EXPECT_EQ("DantzigBoxedLcpSolver", world->GetSolver());
 

diff --git a/dartsim/src/Worlds.hh b/dartsim/src/Worlds.hh
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2024 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 DARTSIM_WORLDS_HH_
+#define DARTSIM_WORLDS_HH_
+
+#include <gz/common/testing/TestPaths.hh>
+
+#include <string>
+
+// \brief retrieve a filename from the dartsim/worlds directory
+// \param[in] _world filename to retrieve
+// \return full path to the request world
+inline std::string DartsimTestWorld(const std::string &_world)
+{
+  return gz::common::testing::SourceFile("dartsim", "worlds", _world);
+}
+
+namespace dartsim::worlds
+{
+const auto kAddedMassSdf = DartsimTestWorld("added_mass.sdf");
+const auto kJointAcrossNestedModelsSdf =
+  DartsimTestWorld("joint_across_nested_models.sdf");
+const auto kModelFramesSdf = DartsimTestWorld("model_frames.sdf");
+const auto kWorldFramesSdf = DartsimTestWorld("world_frames.sdf");
+const auto kWorldWithNestedModelJointToWorldSdf =
+  DartsimTestWorld("world_with_nested_model_joint_to_world.sdf");
+}  // namespace dartsim::worlds
+#endif  // DARTSIM_WORLDS_HH_
diff --git a/dartsim/worlds/empty.sdf b/dartsim/worlds/empty.sdf