First version of new model command for ign-gazebo

Signed-off-by: Marcos Wagner <[email protected]>
gazebosim · Jun 29, 2021 · df9eee1 · df9eee1
1 parent dd9f7b5
commit df9eee1
Show file tree

Hide file tree

Showing 8 changed files with 885 additions and 1 deletion.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -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)
 

diff --git a/model/src/CMakeLists.txt b/model/src/CMakeLists.txt
@@ -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()
diff --git a/model/src/ModelCommandAPI_TEST.cc b/model/src/ModelCommandAPI_TEST.cc
@@ -0,0 +1,160 @@
+/*
+ * 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 ");
+
+/////////////////////////////////////////////////
+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;
+  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
+                          "/examples/worlds/shapes.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"
+      "    - box\n"
+      "    - cylinder\n"
+      "    - sphere\n";
+    EXPECT_EQ(expectedOutput, output);
+  }
+
+  // Tested command: ign model -m cylinder
+  {
+    const std::string cmd = kIgnModelCommand + "-m box";
+    const std::string output = customExecStr(cmd);
+    const std::string expectedOutput =
+
+"\nRequesting state for world [shapes] on service [/world/shapes/state]...\n\n"
+"Name: box\n"
+"  - Pose: \n"
+"      [0.000000 | -0.000000 | 0.500000]\n"
+"      [0.000000 | 0.000000 | 0.000000]\n\n"
+"  - Link [9]\n"
+"    - Name: box_link\n"
+"    - Parent: box [8]\n"
+"    - Mass: [1.000000]\n"
+"    - Inertial Matrix: \n"
+"        [1.000000 | 0.000000 | 0.000000]\n"
+"        [0.000000 | 1.000000 | 0.000000]\n"
+"        [0.000000 | 0.000000 | 1.000000]\n"
+"    - Pose: \n"
+"        [0.000000 | 0.000000 | 0.000000]\n"
+"        [0.000000 | -0.000000 | 0.000000]\n";
+
+    // TODO(@wagnermarcos): Implement test.
+    EXPECT_EQ(expectedOutput, output);
+  }
+
+  // Tested command: ign model -m vehicle_blue --pose
+  {
+    const std::string cmd = kIgnModelCommand + "-m box --pose ";
+    const std::string output = customExecStr(cmd);
+    const std::string expectedOutput =
+      "\nRequesting state for world [shapes] on service [/world/shapes/state]...\n\n"
+      "Name: box\n"
+      "  - Pose: \n"
+      "      [0.000000 | -0.000000 | 0.500000]\n"
+      "      [0.000000 | 0.000000 | 0.000000]\n\n";
+    EXPECT_EQ(expectedOutput, output);
+    // TODO(@wagnermarcos): Implement test.
+  }
+
+  // Tested command: ign model -m box --link box_link
+  {
+    const std::string cmd = kIgnModelCommand +
+                            "-m box --link box_link";
+    const std::string output = customExecStr(cmd);
+    const std::string expectedOutput =
+      "\nRequesting state for world [shapes] on service [/world/shapes/state]...\n\n"
+      "  - Link [9]\n"
+      "    - Name: box_link\n"
+      "    - Parent: box [8]\n"
+      "    - Mass: [1.000000]\n"
+      "    - Inertial Matrix: \n"
+      "        [1.000000 | 0.000000 | 0.000000]\n"
+      "        [0.000000 | 1.000000 | 0.000000]\n"
+      "        [0.000000 | 0.000000 | 1.000000]\n"
+      "    - Pose: \n"
+      "        [0.000000 | 0.000000 | 0.000000]\n"
+      "        [0.000000 | -0.000000 | 0.000000]\n";
+    EXPECT_EQ(expectedOutput, output);
+    // TODO(@wagnermarcos): Implement test.
+  }
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/model/src/cmd/CMakeLists.txt b/model/src/cmd/CMakeLists.txt
@@ -0,0 +1,58 @@
+#===============================================================================
+# Used for the installed version.
+# Generate the ruby script that gets installed.
+# Note that the major version of the library is included in the name.
+set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_model_script_configured "${cmd_model_script_generated}.configured")
+
+# Set the model_library_location variable to the relative path to the library file
+# within the install directory structure.
+set(model_library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${model_lib_target}>")
+
+configure_file(
+  "cmdmodel.rb.in"
+  "${cmd_model_script_configured}"
+  @ONLY)
+
+file(GENERATE
+  OUTPUT "${cmd_model_script_generated}"
+  INPUT  "${cmd_model_script_configured}")
+
+install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition)
+
+# Used for the installed version.
+set(ign_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}")
+
+set(ignmodel_configured "${CMAKE_CURRENT_BINARY_DIR}/ignmodel${PROJECT_VERSION_MAJOR}.yaml")
+configure_file(
+  "ignmodel.yaml.in"
+  ${ignmodel_configured})
+
+install(FILES ${ignmodel_configured} DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
+
+#===============================================================================
+# Generate the ruby script for internal testing.
+# Note that the major version of the library is included in the name.
+set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/model/test/lib/ruby/ignition")
+set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")
+
+# Set the model_library_location variable to the full path of the library file
+# within the build directory
+set(model_library_location "$<TARGET_FILE:${model_lib_target}>")
+
+configure_file(
+  "cmdmodel.rb.in"
+  "${cmd_model_script_configured_test}"
+  @ONLY)
+
+file(GENERATE
+  OUTPUT "${cmd_model_script_generated_test}"
+  INPUT  "${cmd_model_script_configured_test}")
+
+# Used for internal testing.
+set(ign_model_ruby_path "${cmd_model_script_generated_test}")
+
+configure_file(
+  "ignmodel.yaml.in"
+  "${cmd_model_ruby_test_dir}/ignmodel${PROJECT_VERSION_MAJOR}.yaml")