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/*
* Copyright 2020 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 <iostream>
#include <string>
#include <gtest/gtest.h>
#include "sdf/Actor.hh"
#include "sdf/Filesystem.hh"
#include "sdf/Geometry.hh"
#include "sdf/Light.hh"
#include "sdf/Model.hh"
#include "sdf/Root.hh"
#include "sdf/World.hh"
#include "test_config.h"
const auto g_testPath = sdf::testing::TestFile();
const auto g_modelsPath =
sdf::filesystem::append(g_testPath, "integration", "model");
const auto g_sdfPath = sdf::filesystem::append(g_testPath, "sdf");
/////////////////////////////////////////////////
std::string findFileCb(const std::string &_input)
{
return sdf::filesystem::append(g_testPath, "integration", "model", _input);
}
//////////////////////////////////////////////////
// Check that an error is emitted if there are multiple models in an included
// file. Despite the error, the first model should be loaded.
TEST(IncludesTest, NestedMultipleModelsError)
{
sdf::setFindCallback(findFileCb);
const auto sdfFile =
sdf::filesystem::append(g_modelsPath, "nested_multiple_models_error");
sdf::Root root;
sdf::Errors errors = root.Load(sdfFile);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_EQ("Found more than one model for <include>.", errors[0].Message());
const auto * model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("nested_model", model->Name());
ASSERT_EQ(1u, model->LinkCount());
EXPECT_EQ("link1", model->LinkByIndex(0)->Name());
EXPECT_EQ(nullptr, root.Actor());
EXPECT_EQ(nullptr, root.Light());
}
//////////////////////////////////////////////////
// Check that an error is emitted if there are multiple actors in an included
// file. Despite the error, the first actor should be loaded.
TEST(IncludesTest, NestedMultipleActorsError)
{
sdf::setFindCallback(findFileCb);
const auto sdfFile =
sdf::filesystem::append(g_modelsPath, "nested_multiple_actors_error");
sdf::Root root;
sdf::Errors errors = root.Load(sdfFile);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_EQ("Found more than one actor for <include>.", errors[0].Message());
EXPECT_EQ(nullptr, root.Model());
EXPECT_EQ(nullptr, root.Light());
const auto * actor = root.Actor();
ASSERT_NE(nullptr, actor);
EXPECT_EQ("nested_actor", actor->Name());
ASSERT_EQ(1u, actor->LinkCount());
EXPECT_EQ("link1", actor->LinkByIndex(0)->Name());
}
//////////////////////////////////////////////////
// Check that an error is emitted if there are multiple lights in an included
// file. Despite the error, the first light should be loaded.
TEST(IncludesTest, NestedMultipleLightsError)
{
sdf::setFindCallback(findFileCb);
const auto sdfFile =
sdf::filesystem::append(g_modelsPath, "nested_multiple_lights_error");
sdf::Root root;
sdf::Errors errors = root.Load(sdfFile);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_EQ("Found more than one light for <include>.", errors[0].Message());
EXPECT_EQ(nullptr, root.Model());
EXPECT_EQ(nullptr, root.Actor());
const auto * light = root.Light();
ASSERT_NE(nullptr, light);
EXPECT_EQ("nested_light", light->Name());
EXPECT_EQ(ignition::math::Vector3d(1, 0, 0), light->Direction());
}
//////////////////////////////////////////////////
// Check that an error is emitted if there are more than one of model, actor, or
// light in an included file. Despite the error, the
// the first model, actor, light should be loaded in that order of preference.
TEST(IncludesTest, NestedMultipleElementsError)
{
sdf::setFindCallback(findFileCb);
const auto sdfFile =
sdf::filesystem::append(g_modelsPath, "nested_multiple_elements_error");
sdf::Root root;
sdf::Errors errors = root.Load(sdfFile);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_EQ(
"Found other top level element <actor> in addition to <model> in include "
"file.",
errors[0].Message());
EXPECT_EQ(nullptr, root.Light());
EXPECT_EQ(nullptr, root.Actor());
const auto * model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("nested_model", model->Name());
}
//////////////////////////////////////////////////
TEST(IncludesTest, NestedMultipleElementsErrorWorld)
{
sdf::setFindCallback(findFileCb);
const auto sdfFile =
sdf::filesystem::append(
g_sdfPath, "nested_multiple_elements_error_world.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(sdfFile);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_EQ(nullptr, root.Light());
EXPECT_EQ(nullptr, root.Actor());
EXPECT_EQ(nullptr, root.Model());
ASSERT_EQ(1u, root.WorldCount());
const auto * world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
ASSERT_EQ(1u, world->ModelCount());
const auto model = world->ModelByIndex(0);
EXPECT_EQ("nested_model", model->Name());
ASSERT_EQ(1u, model->LinkCount());
EXPECT_EQ("link", model->LinkByIndex(0)->Name());
}
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