Adding some testing

Signed-off-by: Marcos Wagner <[email protected]>
gazebosim · Jun 29, 2021 · f4e5cdd · f4e5cdd
1 parent 4e24940
commit f4e5cdd
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Showing 2 changed files with 59 additions and 13 deletions.
diff --git a/model/src/ModelCommandAPI_TEST.cc b/model/src/ModelCommandAPI_TEST.cc
@@ -67,7 +67,7 @@ TEST(ModelCommandAPI, Commands)
 {
   ignition::gazebo::ServerConfig serverConfig;
   serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-                          "/test/worlds/shapes.sdf");
+                          "/examples/worlds/shapes.sdf");
 
   ignition::gazebo::Server server(serverConfig);
   // Run at least one iteration before continuing to guarantee correctly set up.
@@ -81,6 +81,7 @@ TEST(ModelCommandAPI, Commands)
     const std::string output = customExecStr(cmd);
     const std::string expectedOutput =
       "Available models:\n"
+      "    - ground_plane\n"
       "    - box\n"
       "    - cylinder\n"
       "    - sphere\n";
@@ -89,23 +90,64 @@ TEST(ModelCommandAPI, Commands)
 
   // Tested command: ign model -m cylinder
   {
-    // const std::string cmd = kIgnModelCommand + "-m cylinder";
-    // const std::string output = customExecStr(cmd);
+    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 cylinder --pose
+  // Tested command: ign model -m vehicle_blue --pose
   {
-    // const std::string cmd = kIgnModelCommand + "-m cylinder --pose ";
-    // const std::string output = customExecStr(cmd);
+    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 cylinder --link cylinder_link
+  // Tested command: ign model -m box --link box_link
   {
-    // const std::string cmd = kIgnModelCommand +
-    //                         "-m cylinder --link cylinder_link";
-    // const std::string output = customExecStr(cmd);
+    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.
   }
 }

diff --git a/model/src/cmd/cmdmodel.rb.in b/model/src/cmd/cmdmodel.rb.in
@@ -37,8 +37,13 @@ COMMON_OPTIONS =
 
 COMMANDS = { 'model' =>
 "Print information about models.\n\n"+
-  "  --list                     Get a list of the available models.         \n"\
-  "  -m [--model] [model_name]  Select the model to shown.                  \n\n"+
+  "  --list                     Get a list of the available models.        \n"\
+  "  -m [--model] [model_name]  Select the model to be shown.              \n"\
+  "  -l [--link]  [link_name]   Select a link to show it's properties.     \n"\
+  "  -j [--joint] [joint_name]  Select a joint to show it's properties.    \n\n"\
+  "                             E.g. to get information about the          \n"\
+  "                             box_link in the shapes world, run:         \n"\
+  "                             ign model -m box -l box_link               \n\n"+
   COMMON_OPTIONS
 }
 
@@ -95,7 +100,6 @@ class Cmd
     end
 
     options['command'] = args[0]
-    # options['subcommand'] = args[1]
 
     options
   end # parse()