property_test.cpp

Go to the documentation of this file.

/*
 * 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include <stdio.h>
 
#include <gtest/gtest.h>
 
#ifdef RVIZ_DEPRECATE_QT4_SLOTS
#undef RVIZ_DEPRECATE_QT4_SLOTS
#endif
 
#include <rviz/properties/property.h>
#include <rviz/properties/color_property.h>
#include <rviz/properties/vector_property.h>
#include <rviz/properties/quaternion_property.h>
#include <rviz/properties/enum_property.h>
 
#include "mock_property_change_receiver.h"
 
using namespace rviz;
 
TEST(Property, name)
{
  Property p;
  p.setName("chub");
  EXPECT_EQ("chub", p.getName().toStdString());
}
 
TEST(Property, description)
{
  Property p;
  p.setDescription("chub");
  EXPECT_EQ("chub", p.getDescription().toStdString());
}
 
TEST(Property, value)
{
  Property p;
  p.setValue(199);
  EXPECT_EQ(199, p.getValue().toInt());
}
 
TEST(Property, set_value_events_qt4)
{
  MockPropertyChangeReceiver r;
  Property p("", 1, "", nullptr, SLOT(changed()), &r);
  p.connect(&p, SIGNAL(aboutToChange()), &r, SLOT(aboutToChange()));
  p.setValue(17);
  EXPECT_EQ(" aboutToChange, v=1 changed, v=17", r.result.toStdString());
  r.reset();
 
  // initialize from parent
  Property p2("", 2, "", &p, SIGNAL(changed()));
  p2.connect(&p2, SIGNAL(aboutToChange()), &r, SLOT(aboutToChange()));
  p2.setValue(27);
  EXPECT_EQ(" aboutToChange, v=2 changed, v=17", r.result.toStdString());
  r.reset();
 
  // initialize from parent
  Property p3("", 3, "", &p, SIGNAL(changed()));
  p3.connect(&p3, SIGNAL(aboutToChange()), &r, SLOT(aboutToChange()));
  p3.setValue(37);
  EXPECT_EQ(" aboutToChange, v=3 changed, v=17", r.result.toStdString());
}
 
TEST(Property, set_value_events_lambda)
{
  MockPropertyChangeReceiver r;
  Property p(
      "", 1, "", nullptr, [&r] { r.changed(); }, &r);
  p.connect(&p, &Property::aboutToChange, &r, [&r] { r.aboutToChange(); });
  p.setValue(17);
  EXPECT_EQ(" aboutToChange, v=1 changed, v=17", r.result.toStdString());
  r.reset();
 
  // initialize from parent
  Property p2("", 2, "", &p, [&r] {
    r.changed();
    r.result += " free lambda";
  });
  p2.connect(&p2, &Property::aboutToChange, &r, &MockPropertyChangeReceiver::aboutToChange);
  p2.setValue(27);
  EXPECT_EQ(" aboutToChange, v=2 free lambda", r.result.toStdString());
  r.reset();
 
  // initialize from receiver with parent
  Property p3(
      "", 3, "", &p, [&r] { r.changed(); }, &r);
  p3.connect(&p3, &Property::aboutToChange, &r, &MockPropertyChangeReceiver::aboutToChange);
  p3.setValue(37);
  EXPECT_EQ(" aboutToChange, v=3 changed, v=37", r.result.toStdString());
  r.reset();
}
 
TEST(Property, set_value_events_method_pointer)
{
  MockPropertyChangeReceiver r;
  Property p("", 1, "", nullptr, &MockPropertyChangeReceiver::changed, &r);
  p.connect(&p, &Property::aboutToChange, &r, &MockPropertyChangeReceiver::aboutToChange);
  p.setValue(17);
  EXPECT_EQ(" aboutToChange, v=1 changed, v=17", r.result.toStdString());
  r.reset();
 
  // initialize from parent
  Property p2("", 2, "", &p, &Property::changed);
  p2.connect(&p2, &Property::aboutToChange, &r, &MockPropertyChangeReceiver::aboutToChange);
  p2.setValue(27);
  EXPECT_EQ(" aboutToChange, v=2 changed, v=17", r.result.toStdString());
  r.reset();
 
  // initialize from receiver with parent
  Property p3("", 3, "", &p, &MockPropertyChangeReceiver::changed, &r);
  p3.connect(&p3, &Property::aboutToChange, &r, &MockPropertyChangeReceiver::aboutToChange);
  p3.setValue(37);
  EXPECT_EQ(" aboutToChange, v=3 changed, v=37", r.result.toStdString());
  r.reset();
 
#if 0 // This should fail to compile due to receiver type mismatching slot
  Property mismatching_parent("", 0, "", &p, &MockPropertyChangeReceiver::changed);
#endif
 
  // A receiver nullptr is gracefully handled (i.e. ignored) by Qt
  Property null_receiver("", 4, "", &p, &MockPropertyChangeReceiver::changed,
                         static_cast<MockPropertyChangeReceiver*>(nullptr));
  null_receiver.setValue(47);
  EXPECT_EQ("", r.result.toStdString());
  r.reset();
}
 
TEST(Property, children)
{
  Property* display = new Property("Test");
  new Property("Alpha", 0.5, "The amount of transparency to apply to the grid lines.", display);
  Property* beta =
      new Property("Beta Band", 10, "The number of betas to apply to the grid lines.", display);
  new Property("Gamma Topic", "chubby", "The topic on which to listen for Gamma messages.", display);
  Property* position = new Property("Position", QVariant(), "Position of the chub.", display);
  new Property("X", 1.1f, "X component of the position of the chub.", position);
  new Property("Y", 0.717f, "Y component of the position of the chub.", position);
 
  // Sample usage inside the Display which owns the property.
  int b = beta->getValue().toInt();
  EXPECT_EQ(10, b);
 
  // Sample usage outside the Display
  beta->setValue(12);
  EXPECT_EQ(12, display->subProp("Beta Band")->getValue().toInt());
 
  // Compound property
  float y = display->subProp("Position")->subProp("Y")->getValue().toFloat();
  EXPECT_EQ(0.717f, y);
 
  // Accessing a missing property should not crash.
  printf("Next line should say 'ERROR' but not crash.\n");
  display->subProp("Position")->subProp("Z")->getValue().toFloat();
}
 
TEST(VectorProperty, default_value)
{
  VectorProperty vp;
  Ogre::Vector3 vec = vp.getVector();
  EXPECT_EQ(0, vec.x);
  EXPECT_EQ(0, vec.y);
  EXPECT_EQ(0, vec.z);
}
 
TEST(VectorProperty, set_and_get)
{
  VectorProperty vp;
  Ogre::Vector3 vec(1, 2, 3);
  vp.setVector(vec);
 
  Ogre::Vector3 vec2 = vp.getVector();
  EXPECT_EQ(1, vec2.x);
  EXPECT_EQ(2, vec2.y);
  EXPECT_EQ(3, vec2.z);
}
 
TEST(VectorProperty, set_string)
{
  VectorProperty vp;
  vp.setValue(QString("1;2;3"));
 
  Ogre::Vector3 vec = vp.getVector();
  EXPECT_EQ(1, vec.x);
  EXPECT_EQ(2, vec.y);
  EXPECT_EQ(3, vec.z);
 
  vp.setValue(QString("chubby!"));
 
  vec = vp.getVector();
  EXPECT_EQ(1, vec.x);
  EXPECT_EQ(2, vec.y);
  EXPECT_EQ(3, vec.z);
}
 
TEST(VectorProperty, set_child)
{
  VectorProperty vp;
  vp.subProp("X")->setValue(0.9);
  vp.subProp("Y")->setValue(1.1);
  vp.subProp("Z")->setValue(1.3);
 
  Ogre::Vector3 vec = vp.getVector();
  EXPECT_EQ(0.9f, vec.x);
  EXPECT_EQ(1.1f, vec.y);
  EXPECT_EQ(1.3f, vec.z);
}
 
TEST(VectorProperty, get_child)
{
  VectorProperty vp("v", Ogre::Vector3(1, 2, 3));
  EXPECT_EQ(1, vp.subProp("X")->getValue().toFloat());
  EXPECT_EQ(2, vp.subProp("Y")->getValue().toFloat());
  EXPECT_EQ(3, vp.subProp("Z")->getValue().toFloat());
}
 
TEST(VectorProperty, set_value_events)
{
  MockPropertyChangeReceiver r;
  VectorProperty p("", Ogre::Vector3::ZERO, "", nullptr, SLOT(changed()), &r);
  p.connect(&p, SIGNAL(aboutToChange()), &r, SLOT(aboutToChange()));
 
  p.setVector(Ogre::Vector3(.1, .0001, 1000));
  EXPECT_EQ(" aboutToChange, v=0; 0; 0 changed, v=0.1; 0.0001; 1000", r.result.toStdString());
  r.reset();
 
  p.subProp("Z")->setValue(2.1);
  EXPECT_EQ(" aboutToChange, v=0.1; 0.0001; 1000 changed, v=0.1; 0.0001; 2.1", r.result.toStdString());
}
 
TEST(QuaternionProperty, default_value)
{
  QuaternionProperty qp;
  Ogre::Quaternion quat = qp.getQuaternion();
  EXPECT_EQ(0, quat.x);
  EXPECT_EQ(0, quat.y);
  EXPECT_EQ(0, quat.z);
  EXPECT_EQ(1, quat.w);
}
 
TEST(QuaternionProperty, set_and_get)
{
  QuaternionProperty qp;
  Ogre::Quaternion quat(4, 1, 2, 3);
  qp.setQuaternion(quat);
 
  Ogre::Quaternion quat2 = qp.getQuaternion();
  EXPECT_EQ(1, quat2.x);
  EXPECT_EQ(2, quat2.y);
  EXPECT_EQ(3, quat2.z);
  EXPECT_EQ(4, quat2.w);
}
 
TEST(QuaternionProperty, set_string)
{
  QuaternionProperty qp;
  qp.setValue(QString("1;2;3;4"));
 
  Ogre::Quaternion quat = qp.getQuaternion();
  EXPECT_EQ(1, quat.x);
  EXPECT_EQ(2, quat.y);
  EXPECT_EQ(3, quat.z);
  EXPECT_EQ(4, quat.w);
 
  qp.setValue(QString("chubby!"));
 
  quat = qp.getQuaternion();
  EXPECT_EQ(1, quat.x);
  EXPECT_EQ(2, quat.y);
  EXPECT_EQ(3, quat.z);
  EXPECT_EQ(4, quat.w);
}
 
TEST(QuaternionProperty, set_child)
{
  QuaternionProperty qp;
  qp.subProp("X")->setValue(0.9);
  qp.subProp("Y")->setValue(1.1);
  qp.subProp("Z")->setValue(1.3);
  qp.subProp("W")->setValue(1.5);
 
  Ogre::Quaternion quat = qp.getQuaternion();
  EXPECT_EQ(0.9f, quat.x);
  EXPECT_EQ(1.1f, quat.y);
  EXPECT_EQ(1.3f, quat.z);
  EXPECT_EQ(1.5f, quat.w);
}
 
TEST(QuaternionProperty, get_child)
{
  QuaternionProperty qp("v", Ogre::Quaternion(4, 1, 2, 3));
  EXPECT_EQ(1, qp.subProp("X")->getValue().toFloat());
  EXPECT_EQ(2, qp.subProp("Y")->getValue().toFloat());
  EXPECT_EQ(3, qp.subProp("Z")->getValue().toFloat());
  EXPECT_EQ(4, qp.subProp("W")->getValue().toFloat());
}
 
TEST(QuaternionProperty, set_value_events)
{
  MockPropertyChangeReceiver r;
  QuaternionProperty p("", Ogre::Quaternion::IDENTITY, "", nullptr, SLOT(changed()), &r);
  p.connect(&p, SIGNAL(aboutToChange()), &r, SLOT(aboutToChange()));
 
  p.setQuaternion(Ogre::Quaternion(1, .1, .0001, 1000));
  EXPECT_EQ(" aboutToChange, v=0; 0; 0; 1 changed, v=0.1; 0.0001; 1000; 1", r.result.toStdString());
  r.reset();
 
  p.subProp("Z")->setValue(2.1);
  EXPECT_EQ(" aboutToChange, v=0.1; 0.0001; 1000; 1 changed, v=0.1; 0.0001; 2.1; 1",
            r.result.toStdString());
}
 
TEST(ColorProperty, default_value)
{
  ColorProperty qp;
  QColor color = qp.getColor();
  EXPECT_EQ(0, color.red());
  EXPECT_EQ(0, color.green());
  EXPECT_EQ(0, color.blue());
}
 
TEST(ColorProperty, set_and_get)
{
  ColorProperty qp;
  QColor color(1, 2, 3);
  qp.setColor(color);
 
  QColor color2 = qp.getColor();
  EXPECT_EQ(1, color2.red());
  EXPECT_EQ(2, color2.green());
  EXPECT_EQ(3, color2.blue());
}
 
TEST(ColorProperty, set_string)
{
  ColorProperty qp;
  qp.setValue(QString("1;2;3"));
 
  QColor color = qp.getColor();
  EXPECT_EQ(1, color.red());
  EXPECT_EQ(2, color.green());
  EXPECT_EQ(3, color.blue());
 
  qp.setValue(QString("chubby!"));
 
  color = qp.getColor();
  EXPECT_EQ(1, color.red());
  EXPECT_EQ(2, color.green());
  EXPECT_EQ(3, color.blue());
}
 
TEST(ColorProperty, set_string_limits)
{
  ColorProperty qp;
  qp.setValue(QString("-1;2000;3"));
 
  QColor color = qp.getColor();
  EXPECT_EQ(0, color.red());
  EXPECT_EQ(255, color.green());
  EXPECT_EQ(3, color.blue());
}
 
TEST(ColorProperty, set_value_events)
{
  MockPropertyChangeReceiver r;
  ColorProperty p("", QColor(0, 0, 0), "", nullptr, SLOT(changed()), &r);
  p.connect(&p, SIGNAL(aboutToChange()), &r, SLOT(aboutToChange()));
 
  p.setColor(QColor(1, 2, 3));
  EXPECT_EQ(" aboutToChange, v=0; 0; 0 changed, v=1; 2; 3", r.result.toStdString());
}
 
TEST(EnumProperty, basic)
{
  EnumProperty p;
 
  EXPECT_EQ(0, p.getOptionInt());
 
  p.addOption("chub", 10);
  EXPECT_EQ(0, p.getOptionInt());
 
  p.addOption("foo", 3);
  p.addOption("bar", 999);
 
  p.setValue("chub");
  EXPECT_EQ(10, p.getOptionInt());
 
  p.clearOptions();
  EXPECT_EQ(0, p.getOptionInt());
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}