Program Listing for File visual_test_fixture.hpp
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/*
* Copyright (c) 2017, Bosch Software Innovations GmbH.
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
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* 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.
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* 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"
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#ifndef RVIZ_VISUAL_TESTING_FRAMEWORK__VISUAL_TEST_FIXTURE_HPP_
#define RVIZ_VISUAL_TESTING_FRAMEWORK__VISUAL_TEST_FIXTURE_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/clock.hpp"
#include "std_msgs/msg/header.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2/LinearMath/Quaternion.h"
#include "tf2_ros/static_transform_broadcaster.h"
#include "rviz_visual_testing_framework/internal/display_handler.hpp"
#include "rviz_visual_testing_framework/internal/executor.hpp"
#include "rviz_visual_testing_framework/internal/visual_test.hpp"
#include "rviz_visual_testing_framework/page_objects/page_object_with_window.hpp"
class VisualTestFixture : public testing::Test
{
public:
VisualTestFixture()
{
test_name_ = ::testing::UnitTest::GetInstance()->current_test_info()->name();
executor_ = std::make_shared<Executor>();
src_directory_path_ = std::string(_SRC_DIR_PATH);
build_directory_path_ = std::string(_BUILD_DIR_PATH);
visual_test_ = std::make_unique<VisualTest>(
visualizer_app_, executor_, src_directory_path_, build_directory_path_);
all_display_ids_vector_ = std::make_shared<std::vector<int>>();
display_handler_ = std::make_unique<DisplayHandler>(executor_, all_display_ids_vector_);
visual_test_->setCamera();
}
static void SetUpTestCase();
void TearDown() override;
static void TearDownTestCase();
void setCamPose(Ogre::Vector3 camera_pose);
void setCamLookAt(Ogre::Vector3 camera_look_at_vector);
void updateCamWithDelay(Ogre::Vector3 new_pose, Ogre::Vector3 new_look_at);
void setTesterThreshold(double threshold);
template<typename T>
std::shared_ptr<T> addDisplay()
{
return display_handler_->addDisplay<T>();
}
void removeDisplay(std::shared_ptr<BasePageObject> display);
void captureMainWindow(Ogre::String image_name = "");
void captureRenderWindow(
std::shared_ptr<PageObjectWithWindow> display, Ogre::String name = "");
void assertScreenShotsIdentity();
void assertMainWindowIdentity(Ogre::String image_name = "");
void wait(size_t milliseconds_to_wait);
// Variables need to be public for internal reasons, but it should rarely be necessary to use
// them in tests.
Ogre::String test_name_;
std::unique_ptr<VisualTest> visual_test_;
std::unique_ptr<DisplayHandler> display_handler_;
std::shared_ptr<std::vector<int>> all_display_ids_vector_;
std::vector<Ogre::String> screen_shots_;
std::shared_ptr<Executor> executor_;
static QApplication * qapp_;
static rviz_common::VisualizerApp * visualizer_app_;
static std::string src_directory_path_;
static std::string build_directory_path_;
private:
void startApplication();
void setNameIfEmpty(Ogre::String & name);
};
#endif // RVIZ_VISUAL_TESTING_FRAMEWORK__VISUAL_TEST_FIXTURE_HPP_