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Use a custom Fuel cache location for tests #213

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merged 4 commits into from
Jun 24, 2020
Merged

Use a custom Fuel cache location for tests #213

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4f470f2
Use a custom Fuel cache location for tests
azeey Jun 18, 2020
0c64120
Merge remote-tracking branch 'upstream/ign-gazebo2' into fuel_cache_f…
azeey Jun 24, 2020
7f3984e
Reviewer feedback
azeey Jun 24, 2020
35281a7
Create helper class UniqueTestDirectoryEnv
azeey Jun 24, 2020
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39 changes: 38 additions & 1 deletion src/SdfGenerator_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -135,16 +135,43 @@ TEST(CompareElements, CompareWithDuplicateElements)
EXPECT_FALSE(isSubset(m1CompTest, m1));
}


const char *g_cacheLocation = nullptr;
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class CustomCacheEnv : public ::testing::Environment
{
public: void SetUp() override
{
this->cacheLoc =
common::uniqueDirectoryPath(common::absPath("sdf_gen_test_cache"));
g_cacheLocation = this->cacheLoc.c_str();
common::createDirectory(g_cacheLocation);
ASSERT_TRUE(common::exists(g_cacheLocation));
}

public: void TearDown() override
{
common::removeAll(g_cacheLocation);
}

// g_cacheLocation will point to this string data.
private: std::string cacheLoc;
};

/////////////////////////////////////////////////
class ElementUpdateFixture : public ::testing::Test
{
public: void SetUp() override
{
ignition::common::Console::SetVerbosity(4);

fuel_tools::ClientConfig config;
config.SetCacheLocation(g_cacheLocation);
this->fuelClient = std::make_unique<fuel_tools::FuelClient>(config);

auto fuelCb = [&](const std::string &_uri)
{
auto out = fuel_tools::fetchResource(_uri);
auto out =
fuel_tools::fetchResourceWithClient(_uri, *this->fuelClient.get());
if (!out.empty())
{
this->includeUriMap[out] = _uri;
Expand Down Expand Up @@ -195,6 +222,7 @@ class ElementUpdateFixture : public ::testing::Test
public: std::unique_ptr<SdfEntityCreator> creator;
public: msgs::SdfGeneratorConfig sdfGenConfig;
public: sdf_generator::IncludeUriMap includeUriMap;
public: std::unique_ptr<fuel_tools::FuelClient> fuelClient;
};

/////////////////////////////////////////////////
Expand Down Expand Up @@ -854,3 +882,12 @@ TEST_F(GenerateWorldFixture, ModelsInline)
EXPECT_TRUE(isSubset(this->root.Element(), newRoot.Element()));
}
}

/////////////////////////////////////////////////
/// Main
int main(int _argc, char **_argv)
{
::testing::InitGoogleTest(&_argc, _argv);
::testing::AddGlobalTestEnvironment(new CustomCacheEnv);
return RUN_ALL_TESTS();
}
174 changes: 74 additions & 100 deletions test/integration/breadcrumbs.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,27 @@
using namespace ignition;
using namespace gazebo;

const char *g_cacheLocation = nullptr;
class CustomCacheEnv : public ::testing::Environment
{
public: void SetUp() override
{
this->cacheLoc =
common::uniqueDirectoryPath(common::absPath("breadcrumbs_test_cache"));
g_cacheLocation = this->cacheLoc.c_str();
common::createDirectory(g_cacheLocation);
ASSERT_TRUE(common::exists(g_cacheLocation));
}

public: void TearDown() override
{
common::removeAll(g_cacheLocation);
}

// g_cacheLocation will point to this string data.
private: std::string cacheLoc;
};

class BreadcrumbsTest : public ::testing::Test
{
// Documentation inherited
Expand All @@ -47,24 +68,30 @@ class BreadcrumbsTest : public ::testing::Test
setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
(std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
}
public: void LoadWorld(const std::string &_path, bool _useLevels = false)
{
this->serverConfig.SetResourceCache(g_cacheLocation);
this->serverConfig.SetSdfFile(
common::joinPaths(PROJECT_SOURCE_PATH, _path));
this->serverConfig.SetUseLevels(_useLevels);

this->server = std::make_unique<Server>(this->serverConfig);
EXPECT_FALSE(this->server->Running());
EXPECT_FALSE(*this->server->Running(0));
using namespace std::chrono_literals;
this->server->SetUpdatePeriod(1ns);
}

public: ServerConfig serverConfig;
public: std::unique_ptr<Server> server;
};

/////////////////////////////////////////////////
// The test checks breadcrumbs are deployed at the correct pose
TEST_F(BreadcrumbsTest, DeployAtOffset)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf");

test::Relay testSystem;
transport::Node node;
Expand Down Expand Up @@ -120,26 +147,16 @@ TEST_F(BreadcrumbsTest, DeployAtOffset)
}
});

server.AddSystem(testSystem.systemPtr);
server.Run(true, iterTestStart + 2001, false);
this->server->AddSystem(testSystem.systemPtr);
server->Run(true, iterTestStart + 2001, false);
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}

/////////////////////////////////////////////////
// The test checks max deployments
TEST_F(BreadcrumbsTest, MaxDeployments)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf");

test::Relay testSystem;
transport::Node node;
Expand Down Expand Up @@ -184,8 +201,8 @@ TEST_F(BreadcrumbsTest, MaxDeployments)
}
});

server.AddSystem(testSystem.systemPtr);
server.Run(true, iterTestStart + 5001, false);
this->server->AddSystem(testSystem.systemPtr);
this->server->Run(true, iterTestStart + 5001, false);
}

/////////////////////////////////////////////////
Expand All @@ -194,17 +211,7 @@ TEST_F(BreadcrumbsTest, MaxDeployments)
TEST_F(BreadcrumbsTest, FuelDeploy)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf");

test::Relay testSystem;
transport::Node node;
Expand Down Expand Up @@ -248,27 +255,16 @@ TEST_F(BreadcrumbsTest, FuelDeploy)
}
});

server.AddSystem(testSystem.systemPtr);
server.Run(true, nIters, false);
this->server->AddSystem(testSystem.systemPtr);
this->server->Run(true, nIters, false);
}

/////////////////////////////////////////////////
// The test checks that breadcrumbs can be performers
TEST_F(BreadcrumbsTest, Performer)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);
serverConfig.SetUseLevels(true);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf");

test::Relay testSystem;
transport::Node node;
Expand Down Expand Up @@ -332,8 +328,8 @@ TEST_F(BreadcrumbsTest, Performer)
}
});

server.AddSystem(testSystem.systemPtr);
server.Run(true, nIters, false);
this->server->AddSystem(testSystem.systemPtr);
this->server->Run(true, nIters, false);
}

/////////////////////////////////////////////////
Expand All @@ -342,18 +338,7 @@ TEST_F(BreadcrumbsTest, Performer)
TEST_F(BreadcrumbsTest, PerformerSetVolume)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);
serverConfig.SetUseLevels(true);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf", true);

test::Relay testSystem;
transport::Node node;
Expand Down Expand Up @@ -399,26 +384,16 @@ TEST_F(BreadcrumbsTest, PerformerSetVolume)
}
});

server.AddSystem(testSystem.systemPtr);
server.Run(true, nIters, false);
this->server->AddSystem(testSystem.systemPtr);
this->server->Run(true, nIters, false);
}

/////////////////////////////////////////////////
// The test verifies breadcrumbs physics is disabled using disable_physics_time
TEST_F(BreadcrumbsTest, DeployDisablePhysics)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf");

test::Relay testSystem;
transport::Node node;
Expand Down Expand Up @@ -476,7 +451,7 @@ TEST_F(BreadcrumbsTest, DeployDisablePhysics)

// Verify that the breadcrumb stopped falling after 0.5s.
sdf::Root root;
root.Load(sdfFile);
root.Load(this->serverConfig.SdfFile());
const sdf::World *world = root.WorldByIndex(0);
double gz = world->Gravity().Z();
double z0 = 2.0;
Expand All @@ -486,8 +461,8 @@ TEST_F(BreadcrumbsTest, DeployDisablePhysics)
}
});

server.AddSystem(testSystem.systemPtr);
server.Run(true, iterTestStart + 2001, false);
this->server->AddSystem(testSystem.systemPtr);
this->server->Run(true, iterTestStart + 2001, false);
}

/////////////////////////////////////////////////
Expand All @@ -496,17 +471,7 @@ TEST_F(BreadcrumbsTest, DeployDisablePhysics)
TEST_F(BreadcrumbsTest, AllowRenaming)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/breadcrumbs.sdf";
serverConfig.SetSdfFile(sdfFile);

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);
this->LoadWorld("test/worlds/breadcrumbs.sdf");

transport::Node node;
auto deployB1 =
Expand All @@ -516,21 +481,30 @@ TEST_F(BreadcrumbsTest, AllowRenaming)
auto renameDeploy =
node.Advertise<msgs::Empty>("/rename_deploy");

server.Run(true, 1, false);
this->server->Run(true, 1, false);
deployB1.Publish(msgs::Empty());
server.Run(true, 100, false);
EXPECT_TRUE(server.HasEntity("B1_0"));
this->server->Run(true, 100, false);
EXPECT_TRUE(this->server->HasEntity("B1_0"));

// Deploying via "/no_rename_deploy" will try to spawn B1_0, but since the
// model already exists, the spawn should fail.
auto curEntityCount = server.EntityCount().value();
auto curEntityCount = this->server->EntityCount().value();
noRenameDeploy.Publish(msgs::Empty());
server.Run(true, 100, false);
EXPECT_EQ(curEntityCount, server.EntityCount().value());
this->server->Run(true, 100, false);
EXPECT_EQ(curEntityCount, this->server->EntityCount().value());

// Deploying via "/rename_deploy" will try to spawn B1_0, but since the
// model already exists, it will spawn B1_0_1 instead.
renameDeploy.Publish(msgs::Empty());
server.Run(true, 100, false);
EXPECT_TRUE(server.HasEntity("B1_0_1"));
this->server->Run(true, 100, false);
EXPECT_TRUE(this->server->HasEntity("B1_0_1"));
}

/////////////////////////////////////////////////
/// Main
int main(int _argc, char **_argv)
{
::testing::InitGoogleTest(&_argc, _argv);
::testing::AddGlobalTestEnvironment(new CustomCacheEnv);
return RUN_ALL_TESTS();
}
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