display_test.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#include <gtest/gtest.h>

#include <ros/ros.h>

#include <yaml-cpp/yaml.h>

#include <sstream>

#include <rviz/properties/vector_property.h>
#include <rviz/properties/color_property.h>
#include <rviz/display_group.h>

#include "mock_display.h"
#include "mock_context.h"

using namespace rviz;

TEST( Display, load_properties )
{
  std::stringstream input( "Name: sample\n"
                           "Enabled: true\n"
                           "Count: 7\n"
                           "Pi: 3.2\n"
                           "Offset: {X: -1, Y: 1.1, Z: 1.1e3}\n"
                           "Color: white\n"
                           "Style: loosey goosey\n" );

  YAML::Parser parser( input );
  YAML::Node node;
  parser.GetNextDocument( node );

  MockDisplay d;
  d.load( node );

  EXPECT_EQ( 7, d.count_->getValue().toInt() );
  EXPECT_EQ( "loosey goosey", d.style_->getValue().toString().toStdString() );
  EXPECT_EQ( 3.2f, d.pi_->getValue().toFloat() );
  Ogre::Vector3 offset = d.offset_->getVector();
  EXPECT_EQ( -1.f, offset.x );
  EXPECT_EQ( 1.1f, offset.y );
  EXPECT_EQ( 1100.f, offset.z );
  EXPECT_EQ( "255; 255; 255", d.color_->getValue().toString().toStdString() );
  EXPECT_EQ( true, d.getValue().toBool() );
}

TEST( DisplayGroup, load_properties )
{
  std::stringstream input(
    "Name: root\n"
    "Enabled: true\n"
    "Displays:\n"
    " -\n"
    "   Class: MockDisplay\n"
    "   Name: Steven\n"
    "   Enabled: false\n"
    "   Count: 17\n"
    " -\n"
    "   Name: sub group\n"
    "   Class: DisplayGroup\n"
    "   Enabled: true\n"
    "   Displays:\n"
    "    -\n"
    "      Class: MockDisplay\n"
    "      Name: Curly\n"
    "      Enabled: false\n"
    "      Count: 900\n"
    " -\n"
    "   Class: BrokenDisplay\n"
    "   Name: Joe\n"
    "   Enabled: true\n"
    "   Count: 33\n"
    );

  YAML::Parser parser( input );
  YAML::Node node;
  parser.GetNextDocument( node );

  MockContext context;

  DisplayGroup g;
  g.initialize( &context );
  g.load( node );

  EXPECT_EQ( true, g.getValue().toBool() );
  EXPECT_EQ( false, g.subProp("Steven")->getValue().toBool() );
  EXPECT_EQ( 17, g.subProp("Steven")->subProp("Count")->getValue().toInt() );
  EXPECT_EQ( 900, g.subProp("sub group")->subProp("Curly")->subProp("Count")->getValue().toInt() );
  EXPECT_EQ( "The class required for this display, 'BrokenDisplay', could not be loaded.",
             g.subProp("Joe")->getDescription().left( 74 ).toStdString());
}

TEST( Display, save_properties)
{
  MockDisplay d;
  d.setName( "Steven" );
  d.subProp( "Count" )->setValue( 37 );

  YAML::Emitter out;
  d.save( out );

  // Since we instantiated the display directly instead of using the
  // DisplayFactory, it won't know its class name.
  EXPECT_EQ( std::string( 
               "Class: \"\"\n"
               "Name: Steven\n"
               "Enabled: false\n"
               "Count: 37\n"
               "Style: chunky\n"
               "Pi: 3.14159\n"
               "Offset: {X: 1, Y: 2, Z: 3}\n"
               "Color: 10; 20; 30"
               )
             , out.c_str() );
}

TEST( DisplayGroup, save_properties)
{
  DisplayGroup g;
  g.setName( "Charles" );

  MockDisplay *d = new MockDisplay;
  d->setName( "Steven" );
  d->subProp( "Count" )->setValue( 101 );
  g.addChild( d );

  d = new MockDisplay;
  d->setName( "Katherine" );
  d->subProp( "Pi" )->setValue( 1.1 );
  g.addChild( d );

  YAML::Emitter out;
  g.save( out );

  // Since we instantiated the display directly instead of using the
  // DisplayFactory, it won't know its class name.
  EXPECT_EQ( std::string( 
               "Class: \"\"\n"
               "Name: Charles\n"
               "Enabled: false\n"
               "Displays:\n"
               "  - Class: \"\"\n"
               "    Name: Steven\n"
               "    Enabled: false\n"
               "    Count: 101\n"
               "    Style: chunky\n"
               "    Pi: 3.14159\n"
               "    Offset: {X: 1, Y: 2, Z: 3}\n"
               "    Color: 10; 20; 30\n"
               "  - Class: \"\"\n"
               "    Name: Katherine\n"
               "    Enabled: false\n"
               "    Count: 10\n"
               "    Style: chunky\n"
               "    Pi: 1.1\n"
               "    Offset: {X: 1, Y: 2, Z: 3}\n"
               "    Color: 10; 20; 30"
               )
             , out.c_str() );
}

TEST( DisplayFactory, class_name )
{
  std::stringstream input(
    "Displays:\n"
    " -\n"
    "   Class: MockDisplay\n"
    );

  YAML::Parser parser( input );
  YAML::Node node;
  parser.GetNextDocument( node );

  MockContext context;

  DisplayGroup g;
  g.initialize( &context );
  g.load( node );

  EXPECT_EQ( 1, g.numChildren() );
  EXPECT_EQ( "MockDisplay", g.getDisplayAt( 0 )->getClassId().toStdString() );
}

TEST( DisplayFactory, failed_display )
{
  std::stringstream input(
    "Displays:\n"
    "  - Class: MissingDisplay\n"
    "    Name: Chubbers\n"
    "    NumLemurs: 77\n"
    "    LemurStyle: chunky\n"
    "    SubYaml:\n"
    "      - 1\n"
    "      - foo: bar\n"
    "        food: bard\n"
    );

  YAML::Parser parser( input );
  YAML::Node node;
  parser.GetNextDocument( node );

  MockContext context;

  DisplayGroup g;
  g.initialize( &context );
  g.load( node );

  EXPECT_EQ( 1, g.numChildren() );
  EXPECT_EQ( "MissingDisplay", g.getDisplayAt( 0 )->getClassId().toStdString() );
  EXPECT_EQ( 0, g.getDisplayAt( 0 )->numChildren() ); // FailedDisplay does not have any children.

  // When a FailedDisplay is saved, it should write out its contents
  // that it was loaded with, so data is not lost.
  YAML::Emitter out;
  g.save( out );
  EXPECT_EQ( std::string(
               "Class: \"\"\n"
               "Name: \"\"\n"
               "Enabled: false\n"
               "Displays:\n"
               "  - Class: MissingDisplay\n"
               "    LemurStyle: chunky\n"
               "    Name: Chubbers\n"
               "    NumLemurs: 77\n"
               "    SubYaml:\n"
               "      - 1\n"
               "      - foo: bar\n"
               "        food: bard"
               )
             , out.c_str() );
}

int main( int argc, char **argv ) {
  ros::init( argc, argv, "test", ros::init_options::AnonymousName );
  testing::InitGoogleTest( &argc, argv );
  return RUN_ALL_TESTS();
}