add integration test

Signed-off-by: Dharini Dutia <[email protected]>

test/integration/CMakeLists.txt

@@ -48,6 +48,7 @@ set(tests
   logical_camera_system.cc
   logical_audio_sensor_plugin.cc
   magnetometer_system.cc
+  material.cc
   mesh_inertia_calculation.cc
   model.cc
   model_photo_shoot_default_joints.cc

test/integration/material.cc

@@ -0,0 +1,239 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include <sdf/Root.hh>
+#include <sdf/Model.hh>
+
+#include <gz/utils/ExtraTestMacros.hh>
+
+#include "gz/sim/EntityComponentManager.hh"
+#include "gz/sim/EventManager.hh"
+#include "gz/sim/Link.hh"
+#include "gz/sim/Model.hh"
+#include "gz/sim/SdfEntityCreator.hh"
+#include "gz/sim/Server.hh"
+#include "gz/sim/SystemLoader.hh"
+#include "gz/sim/Types.hh"
+#include "test_config.hh"
+
+#include "gz/sim/components/Collision.hh"
+#include "gz/sim/components/Link.hh"
+#include "gz/sim/components/Model.hh"
+#include "gz/sim/components/Name.hh"
+#include "gz/sim/components/Pose.hh"
+#include "gz/sim/components/Material.hh"
+#include "gz/sim/components/Visual.hh"
+#include "gz/sim/components/World.hh"
+
+#include "../helpers/Relay.hh"
+#include "../helpers/EnvTestFixture.hh"
+
+using namespace gz;
+using namespace sim;
+
+class MaterialTest : public InternalFixture<::testing::Test>
+{
+  public: ::testing::AssertionResult StartServer(
+    const gz::sim::ServerConfig &_serverConfig =
+      gz::sim::ServerConfig())
+  {
+    this->relay = std::make_unique<test::Relay>();
+    this->server = std::make_unique<Server>(_serverConfig);
+    using namespace std::chrono_literals;
+    this->server->SetUpdatePeriod(0ns);
+
+    EXPECT_FALSE(this->server->Running());
+    EXPECT_FALSE(*this->server->Running(0));
+    // A pointer to the ecm. This will be valid once we run the mock system
+    relay->OnPreUpdate(
+        [this](const UpdateInfo &, EntityComponentManager &_ecm)
+        {
+          this->ecm = &_ecm;
+        });
+
+    this->server->AddSystem(this->relay->systemPtr);
+    this->server->Run(true, 1, false);
+    if (nullptr == this->ecm)
+    {
+      return ::testing::AssertionFailure()
+        << "Failed to create EntityComponentManager";
+    }
+
+    this->creator =
+        std::make_unique<SdfEntityCreator>(*this->ecm, this->dummyEventMgr);
+    return ::testing::AssertionSuccess();
+  }
+
+  public: void SpawnModelSDF(const std::string &_sdfString)
+  {
+    ASSERT_NE(this->server, nullptr);
+    ASSERT_NE(this->creator, nullptr);
+
+    sdf::Root root;
+    sdf::Errors errors = root.LoadSdfString(_sdfString);
+    EXPECT_TRUE(errors.empty());
+    ASSERT_NE(nullptr, root.Model());
+
+    Entity modelEntity = this->creator->CreateEntities(root.Model());
+    Entity worldEntity = this->ecm->EntityByComponents(components::World());
+    this->creator->SetParent(modelEntity, worldEntity);
+  }
+
+  public: Model GetModel(const std::string &_name)
+  {
+    return Model(this->ecm->EntityByComponents(
+        components::Model(), components::Name(_name)));
+  }
+
+  public: std::unique_ptr<test::Relay> relay;
+  public: std::unique_ptr<Server> server;
+  public: EntityComponentManager *ecm {nullptr};
+  public: EventManager dummyEventMgr;
+  public: std::unique_ptr<SdfEntityCreator> creator;
+};
+
+TEST_F(MaterialTest, SolidColor)
+{
+  const std::string modelSdf = R"sdf(
+  <sdf version="1.11">
+      <model name="material_shapes">
+        <pose>0 0 0.5 0 0 0</pose>
+        <link name="box">
+        <pose>0 -1.5 0 0 0 0</pose>
+        <visual name="box_visual">
+            <geometry>
+            <box>
+                <size>1 1 1</size>
+            </box>
+            </geometry>
+            <material>
+            <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Blue</name>
+            </script>
+            </material>
+        </visual>
+        </link>
+    </model>
+  </sdf>
+  )sdf";
+
+  ASSERT_TRUE(this->StartServer());
+  this->SpawnModelSDF(modelSdf);
+
+  auto model = this->GetModel("material_shapes");
+  ASSERT_TRUE(model.Valid(*this->ecm));
+
+  auto boxVisualEntity = this->ecm->EntityByComponents(components::Name("box_visual"));
+  ASSERT_NE(kNullEntity, boxVisualEntity);
+
+  auto boxVisualComp = this->ecm->Component<components::Material>(boxVisualEntity);
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 1.0f, 1.0f),
+            boxVisualComp->Data().Ambient());
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 1.0f, 1.0f),
+            boxVisualComp->Data().Diffuse());
+  EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1.0f),
+            boxVisualComp->Data().Specular());
+}
+
+TEST_F(MaterialTest, OtherColor)
+{
+  const std::string modelSdf = R"sdf(
+  <sdf version="1.11">
+      <model name="material_shapes">
+        <pose>0 0 0.5 0 0 0</pose>
+        <link name="box">
+        <pose>0 -1.5 0 0 0 0</pose>
+        <visual name="box_visual">
+            <geometry>
+            <box>
+                <size>1 1 1</size>
+            </box>
+            </geometry>
+            <material>
+            <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/BlueGlow</name>
+            </script>
+            </material>
+        </visual>
+        </link>
+    </model>
+  </sdf>
+  )sdf";
+
+  ASSERT_TRUE(this->StartServer());
+  this->SpawnModelSDF(modelSdf);
+
+  auto model = this->GetModel("material_shapes");
+  ASSERT_TRUE(model.Valid(*this->ecm));
+
+  auto boxVisualEntity = this->ecm->EntityByComponents(components::Name("box_visual"));
+  ASSERT_NE(kNullEntity, boxVisualEntity);
+
+  auto boxVisualComp = this->ecm->Component<components::Material>(boxVisualEntity);
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
+            boxVisualComp->Data().Ambient());
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
+            boxVisualComp->Data().Diffuse());
+  EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1.0f),
+            boxVisualComp->Data().Specular());
+}
+
+TEST_F(MaterialTest, CustomScript)
+{
+  const std::string modelSdf = R"sdf(
+  <sdf version="1.11">
+      <model name="material_shapes">
+        <pose>0 0 0.5 0 0 0</pose>
+        <link name="box">
+        <pose>0 -1.5 0 0 0 0</pose>
+        <visual name="box_visual">
+            <geometry>
+            <box>
+                <size>1 1 1</size>
+            </box>
+            </geometry>
+            <material>
+            <script>
+                <uri>file://media/materials/scripts/custom.material</uri>
+                <name>Gazebo/Blue</name>
+            </script>
+            </material>
+        </visual>
+        </link>
+    </model>
+  </sdf>
+  )sdf";
+
+  ASSERT_TRUE(this->StartServer());
+  this->SpawnModelSDF(modelSdf);
+
+  auto model = this->GetModel("material_shapes");
+  ASSERT_TRUE(model.Valid(*this->ecm));
+
+  auto boxVisualEntity = this->ecm->EntityByComponents(components::Name("box_visual"));
+  ASSERT_NE(kNullEntity, boxVisualEntity);
+
+  auto boxVisualComp = this->ecm->Component<components::Material>(boxVisualEntity);
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
+            boxVisualComp->Data().Diffuse());
+}