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/*
* Copyright 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 <string>
#include <ignition/math/Color.hh>
#include "sdf/sdf.hh"
#include "test_config.h"
////////////////////////////////////////
// Test parsing a link element that has a child light element
TEST(Frame, LinkLight)
{
std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<model name='my_model'>"
<< " <link name='link'>"
<< " <light type= 'point' name='my_light'>"
<< " <pose>0.1 0 0 0 0 0</pose>"
<< " <diffuse>0.2 0.3 0.4 1</diffuse>"
<< " <specular>0.3 0.4 0.5 1</specular>"
<< " </light>"
<< " </link>"
<< "</model>"
<< "</sdf>";
sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
// Verify correct parsing
// model
EXPECT_TRUE(sdfParsed->Root()->HasElement("model"));
sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "my_model");
// link
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linkElem = modelElem->GetElement("link");
EXPECT_TRUE(linkElem->HasAttribute("name"));
EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
// light
EXPECT_TRUE(linkElem->HasElement("light"));
sdf::ElementPtr lightElem = linkElem->GetElement("light");
EXPECT_TRUE(lightElem->HasAttribute("name"));
EXPECT_EQ(lightElem->Get<std::string>("name"), "my_light");
EXPECT_TRUE(lightElem->HasAttribute("type"));
EXPECT_EQ(lightElem->Get<std::string>("type"), "point");
EXPECT_TRUE(lightElem->HasElement("pose"));
auto pose = lightElem->Get<ignition::math::Pose3d>("pose");
EXPECT_EQ(ignition::math::Pose3d(0.1, 0, 0, 0, 0, 0), pose);
// diffuse
EXPECT_TRUE(lightElem->HasElement("diffuse"));
sdf::ElementPtr diffuseElem = lightElem->GetElement("diffuse");
EXPECT_EQ(diffuseElem->Get<ignition::math::Color>(),
ignition::math::Color(0.2f, 0.3f, 0.4f, 1.0f));
// specular
EXPECT_TRUE(lightElem->HasElement("specular"));
sdf::ElementPtr specularElem = lightElem->GetElement("specular");
EXPECT_EQ(specularElem->Get<ignition::math::Color>(),
ignition::math::Color(0.3f, 0.4f, 0.5f, 1.0f));
}
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