camera_plugin.cc

/*
 * Copyright (C) 2017 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/common/Filesystem.hh>
#include <ignition/sensors/Manager.hh>
#include <ignition/sensors/CameraSensor.hh>
#include <ignition/rendering.hh>
#include <ignition/msgs.hh>

#include "test_config.h"  // NOLINT(build/include)
#include "TransportTestTools.hh"


class CameraSensorTest: public testing::Test,
  public testing::WithParamInterface<const char *>
{
  // Create a Camera sensor from a SDF and gets a image message
  public: void ImagesWithBuiltinSDF(const std::string &_renderEngine);
};

void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
{
  // get the darn test data
  std::string path = ignition::common::joinPaths(PROJECT_SOURCE_PATH, "test",
      "integration", "camera_sensor_builtin.sdf");
  sdf::SDFPtr doc(new sdf::SDF());
  sdf::init(doc);
  ASSERT_TRUE(sdf::readFile(path, doc));
  ASSERT_NE(nullptr, doc->Root());
  ASSERT_TRUE(doc->Root()->HasElement("model"));
  auto modelPtr = doc->Root()->GetElement("model");
  ASSERT_TRUE(modelPtr->HasElement("link"));
  auto linkPtr = modelPtr->GetElement("link");
  ASSERT_TRUE(linkPtr->HasElement("sensor"));
  auto sensorPtr = linkPtr->GetElement("sensor");

  // Setup ign-rendering with an empty scene
  auto *engine = ignition::rendering::engine(_renderEngine);
  if (!engine)
  {
    igndbg << "Engine '" << _renderEngine
              << "' is not supported" << std::endl;
    return;
  }

  ignition::rendering::ScenePtr scene = engine->CreateScene("scene");

  // do the test
  ignition::sensors::Manager mgr;
  mgr.AddPluginPaths(ignition::common::joinPaths(PROJECT_BUILD_PATH, "lib"));

  ignition::sensors::CameraSensor *sensor =
      mgr.CreateSensor<ignition::sensors::CameraSensor>(sensorPtr);
  ASSERT_NE(sensor, nullptr);
  sensor->SetScene(scene);

  ASSERT_NE(sensor->RenderingCamera(), nullptr);
  EXPECT_NE(sensor->Id(), sensor->RenderingCamera()->Id());
  EXPECT_EQ(256u, sensor->ImageWidth());
  EXPECT_EQ(257u, sensor->ImageHeight());

  std::string topic = "/test/integration/CameraPlugin_imagesWithBuiltinSDF";
  WaitForMessageTestHelper<ignition::msgs::Image> helper(topic);

  // Update once to create image
  mgr.RunOnce(std::chrono::steady_clock::duration::zero());

  EXPECT_TRUE(helper.WaitForMessage()) << helper;

  // Clean up
  engine->DestroyScene(scene);
  ignition::rendering::unloadEngine(engine->Name());
}

TEST_P(CameraSensorTest, ImagesWithBuiltinSDF)
{
  ImagesWithBuiltinSDF(GetParam());
}

INSTANTIATE_TEST_CASE_P(CameraSensor, CameraSensorTest,
    RENDER_ENGINE_VALUES, ignition::rendering::PrintToStringParam());

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