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ServerFixture.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _GAZEBO_SERVER_FIXTURE_HH_
18 #define _GAZEBO_SERVER_FIXTURE_HH_
19 
20 #pragma GCC diagnostic ignored "-Wswitch-default"
21 #pragma GCC diagnostic ignored "-Wfloat-equal"
22 #pragma GCC diagnostic ignored "-Wshadow"
23 
24 // The following is needed to enable the GetMemInfo function for OSX
25 #ifdef __MACH__
26 # include <mach/mach.h>
27 #endif // __MACH__
28 
29 #include <sdf/sdf.hh>
30 
31 #include <gtest/gtest.h>
32 #include <boost/thread.hpp>
33 #include <mutex>
34 #include <boost/filesystem.hpp>
35 
36 #include <map>
37 #include <string>
38 #include <vector>
39 
40 #include <ignition/math/Pose3.hh>
41 #include <ignition/math/SignalStats.hh>
42 #include <ignition/math/Vector3Stats.hh>
43 
44 #include "gazebo/transport/transport.hh"
45 
46 #include "gazebo/common/CommonIface.hh"
47 #include "gazebo/common/SystemPaths.hh"
48 #include "gazebo/common/Console.hh"
49 #include "gazebo/physics/World.hh"
50 #include "gazebo/physics/PhysicsTypes.hh"
51 #include "gazebo/physics/PhysicsIface.hh"
52 #include "gazebo/sensors/sensors.hh"
53 #include "gazebo/rendering/rendering.hh"
54 #include "gazebo/msgs/msgs.hh"
55 
56 #include "gazebo/gazebo_config.h"
57 #include "gazebo/Server.hh"
58 #include "gazebo/util/system.hh"
59 
60 #include "test_config.h"
61 
62 namespace gazebo
63 {
64  std::string custom_exec(std::string _cmd);
65 
66  class GAZEBO_VISIBLE ServerFixture : public testing::Test
67  {
69  protected: ServerFixture();
70 
72  protected: virtual ~ServerFixture();
73 
75  protected: virtual void TearDown();
76 
78  protected: virtual void Unload();
79 
82  protected: virtual void Load(const std::string &_worldFilename);
83 
88  protected: virtual void Load(const std::string &_worldFilename,
89  bool _paused);
90 
98  protected: virtual void Load(const std::string &_worldFilename,
99  bool _paused, const std::string &_physics,
100  const std::vector<std::string> &_systemPlugins = {});
101 
106  protected: virtual void LoadArgs(const std::string &_args);
107 
112  protected: void RunServer(const std::vector<std::string> &_args);
113 
116  protected: rendering::ScenePtr GetScene(
117  const std::string &_sceneName = "default");
118 
121  protected: void OnStats(ConstWorldStatisticsPtr &_msg);
122 
124  protected: void SetPause(bool _pause);
125 
128  protected: double GetPercentRealTime() const;
129 
133  protected: void OnPose(ConstPosesStampedPtr &_msg);
134 
138  protected: ignition::math::Pose3d EntityPose(
139  const std::string &_name);
140 
144  protected: bool HasEntity(const std::string &_name);
145 
152  protected: void PrintImage(const std::string &_name, unsigned char **_image,
153  unsigned int _width, unsigned int _height,
154  unsigned int _depth);
155 
160  protected: void PrintScan(const std::string &_name, double *_scan,
161  unsigned int _sampleCount);
162 
171  protected: void FloatCompare(float *_scanA, float *_scanB,
172  unsigned int _sampleCount, float &_diffMax,
173  float &_diffSum, float &_diffAvg);
174 
183  protected: void DoubleCompare(double *_scanA, double *_scanB,
184  unsigned int _sampleCount, double &_diffMax,
185  double &_diffSum, double &_diffAvg);
186 
196  protected: void ImageCompare(unsigned char *_imageA,
197  unsigned char *_imageB,
198  unsigned int _width, unsigned int _height,
199  unsigned int _depth,
200  unsigned int &_diffMax, unsigned int &_diffSum,
201  double &_diffAvg);
202 
209  private: void OnNewFrame(const unsigned char *_image,
210  unsigned int _width, unsigned int _height,
211  unsigned int _depth,
212  const std::string &/*_format*/);
213 
219  protected: void GetFrame(const std::string &_cameraName,
220  unsigned char **_imgData, unsigned int &_width,
221  unsigned int &_height);
222 
226  protected: physics::ModelPtr SpawnModel(const msgs::Model &_msg);
227 
232  protected: template<typename T>
233  static void CheckPointer(boost::shared_ptr<T> _ptr)
234  {
235  ASSERT_TRUE(_ptr != NULL);
236  }
237 
256  protected: void SpawnCamera(const std::string &_modelName,
257  const std::string &_cameraName,
258  const ignition::math::Vector3d &_pos =
259  ignition::math::Vector3d::Zero,
260  const ignition::math::Vector3d &_rpy =
261  ignition::math::Vector3d::Zero,
262  unsigned int _width = 320, unsigned int _height = 240,
263  double _rate = 25,
264  const std::string &_noiseType = "",
265  double _noiseMean = 0.0, double _noiseStdDev = 0.0,
266  bool _distortion = false, double _distortionK1 = 0.0,
267  double _distortionK2 = 0.0, double _distortionK3 = 0.0,
268  double _distortionP1 = 0.0, double _distortionP2 = 0.0,
269  double _cx = 0.5, double _cy = 0.5);
270 
294  protected: void SpawnWideAngleCamera(const std::string &_modelName,
295  const std::string &_cameraName,
296  const ignition::math::Vector3d &_pos =
297  ignition::math::Vector3d::Zero,
298  const ignition::math::Vector3d &_rpy =
299  ignition::math::Vector3d::Zero,
300  unsigned int _width = 320,
301  unsigned int _height = 240,
302  double _rate = 25,
303  const double _hfov = 60,
304  const std::string &_lensType = "stereographic",
305  const bool _scaleToHfov = true,
306  const double _cutoffAngle = 3.1415,
307  const double _envTextureSize = 512,
308  const double _c1 = 1.05, const double _c2 = 4,
309  const double _f = 1.0,
310  const std::string &_fun = "tan");
311 
327  protected: void SpawnRaySensor(const std::string &_modelName,
328  const std::string &_raySensorName,
329  const ignition::math::Vector3d &_pos =
330  ignition::math::Vector3d::Zero,
331  const ignition::math::Vector3d &_rpy =
332  ignition::math::Vector3d::Zero,
333  double _hMinAngle = -2.0, double _hMaxAngle = 2.0,
334  double _vMinAngle = -1.0, double _vMaxAngle = 1.0,
335  double _minRange = 0.08, double _maxRange = 10,
336  double _rangeResolution = 0.01, unsigned int _samples = 640,
337  unsigned int _vSamples = 1, double _hResolution = 1.0,
338  double _vResolution = 1.0,
339  const std::string &_noiseType = "", double _noiseMean = 0.0,
340  double _noiseStdDev = 0.0);
341 
349  protected: sensors::SonarSensorPtr SpawnSonar(const std::string &_modelName,
350  const std::string &_sonarName,
351  const ignition::math::Pose3d &_pose,
352  const double _minRange,
353  const double _maxRange,
354  const double _radius);
355 
371  protected: void SpawnGpuRaySensor(const std::string &_modelName,
372  const std::string &_raySensorName,
373  const ignition::math::Vector3d &_pos =
374  ignition::math::Vector3d::Zero,
375  const ignition::math::Vector3d &_rpy =
376  ignition::math::Vector3d::Zero,
377  double _hMinAngle = -2.0, double _hMaxAngle = 2.0,
378  double _minRange = 0.08, double _maxRange = 10,
379  double _rangeResolution = 0.01, unsigned int _samples = 640,
380  const std::string &_noiseType = "", double _noiseMean = 0.0,
381  double _noiseStdDev = 0.0);
382 
393  protected: void SpawnDepthCameraSensor(const std::string &_modelName,
394  const std::string &_cameraName,
395  const ignition::math::Vector3d &_pos =
396  ignition::math::Vector3d::Zero,
397  const ignition::math::Vector3d &_rpy =
398  ignition::math::Vector3d::Zero,
399  const unsigned int _width = 320,
400  const unsigned int _height = 240,
401  const double _rate = 25, const double _near = 0.1,
402  const double _far = 10);
403 
417  protected: void SpawnImuSensor(const std::string &_modelName,
418  const std::string &_imuSensorName,
419  const ignition::math::Vector3d &_pos =
420  ignition::math::Vector3d::Zero,
421  const ignition::math::Vector3d &_rpy =
422  ignition::math::Vector3d::Zero,
423  const std::string &_noiseType = "",
424  double _rateNoiseMean = 0.0, double _rateNoiseStdDev = 0.0,
425  double _rateBiasMean = 0.0, double _rateBiasStdDev = 0.0,
426  double _accelNoiseMean = 0.0, double _accelNoiseStdDev = 0.0,
427  double _accelBiasMean = 0.0, double _accelBiasStdDev = 0.0);
428 
436  protected: void SpawnUnitContactSensor(const std::string &_name,
437  const std::string &_sensorName,
438  const std::string &_collisionType,
439  const ignition::math::Vector3d &_pos =
440  ignition::math::Vector3d::Zero,
441  const ignition::math::Vector3d &_rpy =
442  ignition::math::Vector3d::Zero,
443  bool _static = false);
444 
453  protected: void SpawnUnitImuSensor(const std::string &_name,
454  const std::string &_sensorName,
455  const std::string &_collisionType,
456  const std::string &_topic,
457  const ignition::math::Vector3d &_pos =
458  ignition::math::Vector3d::Zero,
459  const ignition::math::Vector3d &_rpy =
460  ignition::math::Vector3d::Zero,
461  bool _static = false);
462 
471  protected: void SpawnUnitAltimeterSensor(const std::string &_name,
472  const std::string &_sensorName,
473  const std::string &_collisionType,
474  const std::string &_topic,
475  const ignition::math::Vector3d &_pos =
476  ignition::math::Vector3d::Zero,
477  const ignition::math::Vector3d &_rpy =
478  ignition::math::Vector3d::Zero,
479  bool _static = false);
480 
489  protected: void SpawnUnitMagnetometerSensor(const std::string &_name,
490  const std::string &_sensorName,
491  const std::string &_collisionType,
492  const std::string &_topic,
493  const ignition::math::Vector3d &_pos =
494  ignition::math::Vector3d::Zero,
495  const ignition::math::Vector3d &_rpy =
496  ignition::math::Vector3d::Zero,
497  bool _static = false);
498 
503  private: void launchTimeoutFailure(const char *_logMsg,
504  const int _timeoutCS);
505 
516  protected: void SpawnWirelessTransmitterSensor(const std::string &_name,
517  const std::string &_sensorName,
518  const ignition::math::Vector3d &_pos,
519  const ignition::math::Vector3d &_rpy,
520  const std::string &_essid,
521  double _freq,
522  double _power,
523  double _gain,
524  bool _visualize = true);
525 
537  protected: void SpawnWirelessReceiverSensor(const std::string &_name,
538  const std::string &_sensorName,
539  const ignition::math::Vector3d &_pos,
540  const ignition::math::Vector3d &_rpy,
541  double _minFreq,
542  double _maxFreq,
543  double _power,
544  double _gain,
545  double _sensitivity,
546  bool _visualize = true);
547 
552  protected: void WaitUntilEntitySpawn(const std::string &_name,
553  unsigned int _sleepEach,
554  int _retries);
555 
560  protected: void WaitUntilSensorSpawn(const std::string &_name,
561  unsigned int _sleepEach,
562  int _retries);
563 
569  protected: void WaitUntilIteration(const uint32_t _goalIteration,
570  const int _sleepEach,
571  const int _retries) const;
572 
578  protected: void WaitUntilSimTime(const common::Time &_goalTime,
579  const int _ms,
580  const int _maxRetries) const;
581 
599  protected: void SpawnLight(const std::string &_name,
600  const std::string &_type,
601  const ignition::math::Vector3d &_pos,
602  const ignition::math::Vector3d &_rpy,
603  const common::Color &_diffuse,
604  const common::Color &_specular = common::Color::White,
605  const ignition::math::Vector3d &_direction =
606  -ignition::math::Vector3d::UnitZ,
607  double _attenuationRange = 20,
608  double _attenuationConstant = 0.5,
609  double _attenuationLinear = 0.01,
610  double _attenuationQuadratic = 0.001,
611  double _spotInnerAngle = 0,
612  double _spotOuterAngle = 0,
613  double _spotFallOff = 0,
614  bool _castShadows = true) GAZEBO_DEPRECATED(9.0);
615 
632  protected: void SpawnLight(const std::string &_name,
633  const std::string &_type,
634  const ignition::math::Vector3d &_pos =
635  ignition::math::Vector3d::Zero,
636  const ignition::math::Vector3d &_rpy =
637  ignition::math::Vector3d::Zero,
638  const ignition::math::Color &_diffuse =
639  ignition::math::Color::White,
640  const ignition::math::Color &_specular =
641  ignition::math::Color::White,
642  const ignition::math::Vector3d &_direction =
643  -ignition::math::Vector3d::UnitZ,
644  const double _attenuationRange = 20,
645  const double _attenuationConstant = 0.5,
646  const double _attenuationLinear = 0.01,
647  const double _attenuationQuadratic = 0.001,
648  const double _spotInnerAngle = 0,
649  const double _spotOuterAngle = 0,
650  const double _spotFallOff = 0,
651  const bool _castShadows = true);
652 
658  protected: void SpawnCylinder(const std::string &_name,
659  const ignition::math::Vector3d &_pos =
660  ignition::math::Vector3d::Zero,
661  const ignition::math::Vector3d &_rpy =
662  ignition::math::Vector3d::Zero,
663  bool _static = false);
664 
672  protected: void SpawnSphere(const std::string &_name,
673  const ignition::math::Vector3d &_pos,
674  const ignition::math::Vector3d &_rpy,
675  bool _wait = true, bool _static = false);
676 
686  protected: void SpawnSphere(const std::string &_name,
687  const ignition::math::Vector3d &_pos,
688  const ignition::math::Vector3d &_rpy,
689  const ignition::math::Vector3d &_cog,
690  double _radius = 1.0,
691  bool _wait = true, bool _static = false);
692 
699  protected: void SpawnBox(const std::string &_name,
700  const ignition::math::Vector3d &_size =
701  ignition::math::Vector3d::One,
702  const ignition::math::Vector3d &_pos =
703  ignition::math::Vector3d::Zero,
704  const ignition::math::Vector3d &_rpy =
705  ignition::math::Vector3d::Zero,
706  bool _static = false);
707 
715  protected: void SpawnTrimesh(const std::string &_name,
716  const std::string &_modelPath,
717  const ignition::math::Vector3d &_scale =
718  ignition::math::Vector3d::One,
719  const ignition::math::Vector3d &_pos =
720  ignition::math::Vector3d::Zero,
721  const ignition::math::Vector3d &_rpy =
722  ignition::math::Vector3d::Zero,
723  bool _static = false);
724 
730  protected: void SpawnEmptyLink(const std::string &_name,
731  const ignition::math::Vector3d &_pos =
732  ignition::math::Vector3d::Zero,
733  const ignition::math::Vector3d &_rpy =
734  ignition::math::Vector3d::Zero,
735  bool _static = false);
736 
739  protected: void SpawnModel(const std::string &_filename);
740 
743  protected: void SpawnSDF(const std::string &_sdf);
744 
748  protected: void LoadPlugin(const std::string &_filename,
749  const std::string &_name);
750 
754  protected: physics::ModelPtr GetModel(const std::string &_name);
755 
758  protected: void RemoveModel(const std::string &_name);
759 
762  protected: void RemovePlugin(const std::string &_name);
763 
767  protected: void GetMemInfo(double &_resident, double &_share);
768 
772  protected: std::string GetUniqueString(const std::string &_prefix);
773 
777  protected: void Record(const std::string &_name, const double _data);
778 
782  protected: void Record(const std::string &_prefix,
783  const ignition::math::SignalStats &_stats);
784 
788  protected: void Record(const std::string &_prefix,
789  const ignition::math::Vector3Stats &_stats);
790 
792  protected: Server *server;
793 
795  protected: boost::thread *serverThread;
796 
798  protected: transport::NodePtr node;
799 
801  protected: transport::SubscriberPtr poseSub;
802 
804  protected: transport::SubscriberPtr statsSub;
805 
807  protected: transport::PublisherPtr factoryPub;
808 
810  protected: transport::PublisherPtr requestPub;
811 
813  protected: std::map<std::string, ignition::math::Pose3d> poses;
814 
816  protected: std::mutex receiveMutex;
817 
819  private: unsigned char **imgData;
820 
822  private: int gotImage;
823 
825  protected: common::Time simTime, realTime, pauseTime;
826 
828  private: double percentRealTime;
829 
831  private: bool paused;
832 
834  private: bool serverRunning;
835 
837  private: int uniqueCounter;
838  };
839 
840  class GAZEBO_VISIBLE RenderingFixture : public ServerFixture
841  {
842  // Documentation inherited.
843  public: virtual void SetUp();
844 
845  // Documentation inherited.
846  protected: virtual void Unload();
847  };
848 } // namespace gazebo
849 #endif // define _GAZEBO_SERVER_FIXTURE_HH_
gazebo::common::Color::White
static const Color White
(1, 1, 1)
Definition: Color.hh:39
gazebo::ServerFixture
Definition: ServerFixture.hh:66
gazebo::custom_exec
std::string custom_exec(std::string _cmd)
gazebo::transport::PublisherPtr
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
gazebo::transport::SubscriberPtr
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
gazebo::transport::NodePtr
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
PhysicsTypes.hh
default namespace for gazebo
gazebo::RenderingFixture
Definition: ServerFixture.hh:840
gazebo::rendering::ScenePtr
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
gazebo::ServerFixture::CheckPointer
static void CheckPointer(boost::shared_ptr< T > _ptr)
Check that a pointer is not NULL.
Definition: ServerFixture.hh:233
NULL
#define NULL
Definition: CommonTypes.hh:31
gazebo::common::Color
Defines a color.
Definition: Color.hh:36
GAZEBO_DEPRECATED
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
gazebo::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
gazebo::Server
Definition: Server.hh:41
gazebo::sensors::SonarSensorPtr
std::shared_ptr< SonarSensor > SonarSensorPtr
Definition: SensorTypes.hh:112
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
gazebo::common::Time
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44