mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
73 lines
1.7 KiB
C++
73 lines
1.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include <simulation/gz_msgs/msgs.h>
|
|
|
|
#include <gazebo/gazebo.hh>
|
|
#include <gazebo/gazebo_client.hh>
|
|
#include <gazebo/msgs/msgs.hh>
|
|
#include <gazebo/sensors/sensors.hh>
|
|
#include <gazebo/transport/transport.hh>
|
|
|
|
#include "gtest/gtest.h"
|
|
|
|
using namespace testing;
|
|
|
|
static char* library;
|
|
static char* world_sdf;
|
|
static double latest_time;
|
|
|
|
void cb(gazebo::msgs::ConstFloat64Ptr& msg) { latest_time = msg->data(); }
|
|
|
|
TEST(ClockTests, test_clock) {
|
|
gazebo::physics::WorldPtr world;
|
|
|
|
ASSERT_TRUE(library);
|
|
ASSERT_TRUE(!access(library, X_OK | R_OK));
|
|
ASSERT_TRUE(world_sdf);
|
|
ASSERT_TRUE(!access(world_sdf, R_OK));
|
|
|
|
gazebo::addPlugin(library);
|
|
ASSERT_TRUE(gazebo::setupServer());
|
|
|
|
world = gazebo::loadWorld(world_sdf);
|
|
ASSERT_TRUE(world != NULL);
|
|
|
|
ASSERT_TRUE(gazebo::client::setup());
|
|
|
|
gazebo::transport::NodePtr node(new gazebo::transport::Node());
|
|
node->Init();
|
|
|
|
gazebo::transport::SubscriberPtr sub =
|
|
node->Subscribe("/gazebo/frc/time", cb);
|
|
|
|
gazebo::sensors::run_once(true);
|
|
gazebo::sensors::run_threads();
|
|
gazebo::common::Time::MSleep(1);
|
|
|
|
double start = latest_time;
|
|
|
|
for (unsigned int i = 0; i < 1000; ++i) {
|
|
gazebo::runWorld(world, 1);
|
|
gazebo::sensors::run_once();
|
|
gazebo::common::Time::MSleep(1);
|
|
}
|
|
|
|
double end = latest_time;
|
|
|
|
ASSERT_TRUE(end > start);
|
|
ASSERT_TRUE(gazebo::client::shutdown());
|
|
ASSERT_TRUE(gazebo::shutdown());
|
|
}
|
|
|
|
int main(int argc, char** argv) {
|
|
testing::InitGoogleTest(&argc, argv);
|
|
|
|
if (argc >= 1) library = argv[1];
|
|
|
|
if (argc >= 2) world_sdf = argv[2];
|
|
|
|
return RUN_ALL_TESTS();
|
|
}
|