Program Listing for File visual_test.hpp

↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_visual_testing_framework/include/rviz_visual_testing_framework/internal/visual_test.hpp)

/*
 * Copyright (c) 2017, Bosch Software Innovations GmbH.
 * 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 copyright holder 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.
 */
#ifndef RVIZ_VISUAL_TESTING_FRAMEWORK__INTERNAL__VISUAL_TEST_HPP_
#define RVIZ_VISUAL_TESTING_FRAMEWORK__INTERNAL__VISUAL_TEST_HPP_

#include <memory>
#include <string>

#ifdef _WIN32
# pragma warning(push)
# pragma warning(disable : 4996)
#endif
#include <Ogre.h>
#ifdef _WIN32
# pragma warning(pop)
#endif

#include "rviz_visual_testing_framework/internal/rviz_scene_test.hpp"
#include "rviz_visual_testing_framework/internal/image_tester.hpp"
#include "rviz_visual_testing_framework/internal/executor.hpp"
#include "rviz_visual_testing_framework/page_objects/page_object_with_window.hpp"

class VisualTest
{
public:
  VisualTest(
    rviz_common::VisualizerApp * vapp,
    std::shared_ptr<Executor> executor,
    std::string src_dir_path,
    std::string build_dir_path);

  ~VisualTest();

  void setCamPose(Ogre::Vector3 camera_pose);

  void setCamLookAt(Ogre::Vector3 look_at_vector);

  void assertVisualIdentity(Ogre::String name);

  void takeScreenShot(Ogre::String name, std::shared_ptr<PageObjectWithWindow> display);

  void setCamera();

  void setTesterThreshold(double threshold);

  static bool generateReferenceImages();

private:
  void takeReferenceScreenShot(
    Ogre::String screenshot_name, std::shared_ptr<PageObjectWithWindow> display);
  void takeTestScreenShot(
    Ogre::String screenshot_name, std::shared_ptr<PageObjectWithWindow> display);
  bool checkImageExists(std::string & name);
  bool directoriesDoNotExist();
  void reset();

  Ogre::Vector3 default_cam_pose_;
  Ogre::Vector3 default_cam_look_at_;
  RvizTestScene scene_;
  ImageTester tester_;
  std::string test_images_path_suffix_;
  std::string reference_images_path_suffix_;
  std::string build_directory_path_;
  std::string source_directory_path_;
};

#endif  // RVIZ_VISUAL_TESTING_FRAMEWORK__INTERNAL__VISUAL_TEST_HPP_