TestFixture Class Reference

Helper class to write automated tests. It provides a convenient API to load a world file, step simulation and check entities and components. More...

#include <TestFixture.hh>

Public Member Functions
	TestFixture (const ServerConfig &_config)
	Constructor. More...
	TestFixture (const std::string &_path)
	Constructor. More...
virtual	~TestFixture ()
	Destructor. More...
TestFixture &	Finalize ()
	Finalize all the functions and add fixture to server. Finalize must be called before running the server, otherwise none of the On* functions will be called. The OnConfigure callback is called immediately on finalize. More...
TestFixture &	OnConfigure (std::function< void(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)> _cb)
	Wrapper around a system's pre-update callback. More...
TestFixture &	OnPostUpdate (std::function< void(const UpdateInfo &, const EntityComponentManager &)> _cb)
	Wrapper around a system's post-update callback. More...
TestFixture &	OnPreUpdate (std::function< void(const UpdateInfo &, EntityComponentManager &)> _cb)
	Wrapper around a system's pre-update callback. More...
TestFixture &	OnUpdate (std::function< void(const UpdateInfo &, EntityComponentManager &)> _cb)
	Wrapper around a system's update callback. More...
std::shared_ptr< sim::Server >	Server () const
	Get pointer to underlying server. More...

Detailed Description

Helper class to write automated tests. It provides a convenient API to load a world file, step simulation and check entities and components.

Usage

// Load a world with a fixture
TestFixture fixture("path_to.sdf");
 
// Register callbacks, for example:
fixture.OnPostUpdate([&](const sim::UpdateInfo &,
  const sim::EntityComponentManager &_ecm)
  {
    // Add expectations here
  }).Finalize();
// Be sure to call finalize before running the server.
 
// Run the server
fixture.Server()->Run(true, 1000, false);

Constructor & Destructor Documentation

TestFixture() [1/2]

TestFixture ( const std::string &  _path )

explicit

Constructor.

Parameters

[in]

_path

Path to SDF file.

TestFixture() [2/2]

TestFixture ( const ServerConfig &  _config )

explicit

Constructor.

Parameters

[in]

_config

Server config file

~TestFixture()

virtual ~TestFixture ( )

virtual

Destructor.

Member Function Documentation

Finalize()

TestFixture& Finalize

(

)

Finalize all the functions and add fixture to server. Finalize must be called before running the server, otherwise none of the On* functions will be called. The OnConfigure callback is called immediately on finalize.

OnConfigure()

TestFixture& OnConfigure

(

std::function< void(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)>

_cb

)

Wrapper around a system's pre-update callback.

Parameters

[in]

_cb

Function to be called every pre-update The _entity and _sdf will correspond to the world entity.

Returns

Reference to self.

OnPostUpdate()

TestFixture& OnPostUpdate

(

std::function< void(const UpdateInfo &, const EntityComponentManager &)>

_cb

)

Wrapper around a system's post-update callback.

Parameters

[in]

_cb

Function to be called every post-update

Returns

Reference to self.

OnPreUpdate()

TestFixture& OnPreUpdate

(

std::function< void(const UpdateInfo &, EntityComponentManager &)>

_cb

)

Wrapper around a system's pre-update callback.

Parameters

[in]

_cb

Function to be called every pre-update

Returns

Reference to self.

OnUpdate()

TestFixture& OnUpdate

(

std::function< void(const UpdateInfo &, EntityComponentManager &)>

_cb

)

Wrapper around a system's update callback.

Parameters

[in]

_cb

Function to be called every update

Returns

Reference to self.

Server()

std::shared_ptr<sim::Server> Server

(

)

const

Get pointer to underlying server.

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The documentation for this class was generated from the following file:

• gz/sim/TestFixture.hh