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/*
* Copyright 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 <string>
#include <gtest/gtest.h>
#include <ignition/math/Color.hh>
#include "sdf/sdf.hh"
#include "test_config.h"
void ExpectInvalidWithMessage(sdf::Errors &_errors, std::string _compType)
{
for (const auto &e : _errors)
{
if (e.Message().find(_compType) != std::string::npos)
{
EXPECT_EQ(e.Code(), sdf::ErrorCode::ELEMENT_INVALID);
break;
}
}
}
//////////////////////////////////////////////////
TEST(Material, InvalidColors)
{
std::string testFile =
sdf::testing::TestFile("sdf", "material_invalid.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
std::cout << errors << std::endl;
ASSERT_FALSE(errors.empty());
ExpectInvalidWithMessage(errors, "ambient");
// since the above test will break at //ambient, it doesn't test the other
// invalid cases. Below tests these other invalid cases
// less than 3 values
std::string testSDF = R"(
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="model">
<link name="link">
<visual name="material">
<material>
<specular>0 0.1</specular>
</material>
</visual>
</link>
</model>
</sdf>)";
errors.clear();
errors = root.LoadSdfString(testSDF);
std::cout << errors << std::endl;
ASSERT_FALSE(errors.empty());
ExpectInvalidWithMessage(errors, "specular");
// negative value
testSDF = R"(
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="model">
<link name="link">
<visual name="material">
<material>
<emissive>0.1 0.2 -1</emissive>
</material>
</visual>
</link>
</model>
</sdf>)";
errors.clear();
errors = root.LoadSdfString(testSDF);
std::cout << errors << std::endl;
ASSERT_FALSE(errors.empty());
ExpectInvalidWithMessage(errors, "emissive");
// more than 4 values
testSDF = R"(
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="model">
<link name="link">
<visual name="material">
<material>
<diffuse>0.1 0.2 0.3 0.4 0.5</diffuse>
</material>
</visual>
</link>
</model>
</sdf>)";
errors.clear();
errors = root.LoadSdfString(testSDF);
std::cout << errors << std::endl;
ASSERT_FALSE(errors.empty());
ExpectInvalidWithMessage(errors, "diffuse");
// invalid string value
testSDF = R"(
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="model">
<link name="link">
<visual name="material">
<material>
<ambient>0.1 0.2 test</ambient>
</material>
</visual>
</link>
</model>
</sdf>)";
errors.clear();
errors = root.LoadSdfString(testSDF);
std::cout << errors << std::endl;
ASSERT_FALSE(errors.empty());
ExpectInvalidWithMessage(errors, "ambient");
}
//////////////////////////////////////////////////
TEST(Material, ValidColors)
{
std::string testFile =
sdf::testing::TestFile("sdf", "material_valid.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
std::cout << errors << std::endl;
ASSERT_TRUE(errors.empty());
sdf::ElementPtr elem = root.Element()->GetElement("model")
->GetElement("link")
->GetElement("visual")
->GetElement("material");
ASSERT_NE(elem, nullptr);
EXPECT_EQ(elem->Get<ignition::math::Color>("diffuse"),
ignition::math::Color(0, 0.1f, 0.2f, 1));
EXPECT_EQ(elem->Get<ignition::math::Color>("specular"),
ignition::math::Color(0, 0.1f, 0.2f, 0.3f));
EXPECT_EQ(elem->Get<ignition::math::Color>("emissive"),
ignition::math::Color(0.12f, 0.23f, 0.34f, 0.56f));
EXPECT_EQ(elem->Get<ignition::math::Color>("ambient"),
ignition::math::Color(0, 0, 0, 1));
}
//////////////////////////////////////////////////
TEST(Material, URDFValidColors)
{
std::string testFile =
sdf::testing::TestFile("sdf", "material_valid.urdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
std::cout << errors << std::endl;
ASSERT_TRUE(errors.empty());
sdf::ElementPtr elem = root.Element()->GetElement("model")
->GetElement("link")
->GetElement("visual")
->GetElement("material");
ASSERT_NE(elem, nullptr);
EXPECT_EQ(elem->Get<ignition::math::Color>("diffuse"),
ignition::math::Color(0.0, 1.0f, 1.0f, 1));
EXPECT_EQ(elem->Get<ignition::math::Color>("specular"),
ignition::math::Color(0.0, 0.0f, 0.0f, 1));
EXPECT_EQ(elem->Get<ignition::math::Color>("emissive"),
ignition::math::Color(0, 0, 0, 1));
EXPECT_EQ(elem->Get<ignition::math::Color>("ambient"),
ignition::math::Color(0.0, 1.0f, 1.0f, 1));
}
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