Merge branch 'develop' into feature/closecloud_adjustments

Intermodalics · Jun 8, 2017 · 5512db0 · 5512db0
2 parents 387f7de + 16917dd
commit 5512db0
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Showing 6 changed files with 107 additions and 7 deletions.
diff --git a/.jshintrc b/.jshintrc
@@ -25,6 +25,6 @@
   "trailing": true,
   "quotmark": "single",
   "proto": true,
-  "laxbreak": true
+  "laxbreak": true,
+  "mocha": true
 }
-
diff --git a/Gruntfile.js b/Gruntfile.js
@@ -14,7 +14,8 @@ module.exports = function(grunt) {
       },
       files: [
         'Gruntfile.js',
-        './build/ros3d.js'
+        './build/ros3d.js',
+        './tests/*.js'
       ]
     },
     karma: {

diff --git a/README.md b/README.md
@@ -2,7 +2,7 @@ ros3djs [![Build Status](https://api.travis-ci.org/RobotWebTools/ros3djs.png)](h
 =======
 
 #### 3D Visualization Library for use with the ROS JavaScript Libraries
-For full documentation, see [the ROS wiki](http://ros.org/wiki/ros3djs) or check out some [working demos](http://robotwebtools.org/).
+For full documentation, see [the ROS wiki](http://ros.org/wiki/ros3djs) or check out some [working demos](http://robotwebtools.org/demos.html).
 
 [JSDoc](http://robotwebtools.org/jsdoc/ros3djs/current/) can be found on the Robot Web Tools website.
 
@@ -89,6 +89,11 @@ To run the build tasks:
 
 `grunt doc` will rebuild all JSDoc for the project.
 
+### Testing
+Utilizes [mocha](https://mochajs.org/) and [chai](http://chaijs.com/) for in browser testing.
+
+To run tests simply open `tests/index.html` in a web browser
+
 ### License
 ros3djs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
 

diff --git a/package.json b/package.json
@@ -6,14 +6,16 @@
   "license": "BSD-3-Clause",
   "main": "./src/Ros3D.js",
   "devDependencies": {
+    "chai": "^3.5.0",
     "grunt": "~1.0.1",
+    "grunt-contrib-clean": "~1.0.0",
     "grunt-contrib-concat": "~1.0.1",
     "grunt-contrib-jshint": "~1.1.0",
-    "grunt-karma": "~2.0.0",
-    "grunt-contrib-watch": "~1.0.0",
     "grunt-contrib-uglify": "~2.0.0",
+    "grunt-contrib-watch": "~1.0.0",
     "grunt-jsdoc": "~2.1.0",
-    "grunt-contrib-clean": "~1.0.0"
+    "grunt-karma": "~2.0.0",
+    "mocha": "^3.2.0"
   },
   "repository": {
     "type": "git",

diff --git a/tests/index.html b/tests/index.html
@@ -0,0 +1,25 @@
+<!DOCTYPE html>
+<html>
+<head>
+  <meta charset="utf-8">
+  <title>Tests</title>
+  <link rel="stylesheet" media="all" href="../node_modules/mocha/mocha.css">
+</head>
+<body>
+  <div id="mocha"><p>ros3d.js Tests</p></div>
+  <div id="messages"></div>
+  <div id="fixtures"></div>
+  <script src="../node_modules/mocha/mocha.js"></script>
+  <script src="../node_modules/chai/chai.js"></script>
+  <script src="https://cdn.jsdelivr.net/lodash/4.17.4/lodash.core.min.js"></script>
+
+  <script src="http://cdn.robotwebtools.org/threejs/current/three.js"></script>
+  <script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
+  <script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.js"></script>
+  <script src="../build/ros3d.js"></script>
+
+  <script>mocha.setup('bdd')</script>
+  <script src="tests.js"></script>
+  <script>mocha.run();</script>
+</body>
+</html>
diff --git a/tests/tests.js b/tests/tests.js
@@ -0,0 +1,67 @@
+/*global describe, it, before, beforeEach, after, afterEach, chai, ROS3D, _ */
+
+var assert = chai.assert;
+
+describe('Initialization', function() {
+
+
+  describe('Arrow', function() {
+    var arrow = new ROS3D.Arrow();
+
+    it('matrix should be equal to the proper Matrix4', function() {
+      var a = new THREE.Vector3(0, 1, 0);
+      arrow.setDirection(a);
+      var b = new THREE.Matrix4();
+      b.set(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+      assert.isTrue(_.isEqual(arrow.matrix.toArray(), b.toArray()));
+    });
+
+    it('scale should be equal to THREE.Vector3(2, 2, 2)', function() {
+      arrow.setLength(2);
+      assert.isTrue(arrow.scale.equals(new THREE.Vector3(2, 2, 2)));
+    });
+
+    it('material.color should be equal to THREE.Color(0xfff000)', function() {
+      arrow.setColor(0xfff000);
+      assert.equal(arrow.material.color.getHex(), new THREE.Color(0xfff000).getHex());
+    });
+
+  });
+
+  describe('depthCloud', function() {
+    // Setup Kinect DepthCloud stream
+    var depthCloud = new ROS3D.DepthCloud({
+      url : 'http://'+window.location.hostname+':9999/stream?topic=/depthcloud_encoded&type=vp8&bitrate=250000&quality=best',
+      f : 525.0
+    });
+
+    it('should return 525.0 for value of f', function() {
+      assert.equal(525.0, depthCloud.f);
+    });
+  });
+
+  describe('Grid', function() {
+    var grid = new ROS3D.Grid();
+
+    it('should default to 22 children', function() {
+      assert.equal(grid.children.length, 22);
+    });
+
+    it('each child\'s color is THREE.Color(\'#cccccc\') by default', function() {
+      var sample = new THREE.Color('#cccccc').getHex();
+      function correctColor(element, index, array) {
+        return element.material.color.getHex() === sample;
+      }
+      assert.isTrue(grid.children.every(correctColor));
+    });
+
+    it('each child\'s linewidth is 1 by default', function() {
+      function isOne(element, index, array) {
+        return element.material.linewidth === 1;
+      }
+      assert.isTrue(grid.children.every(isOne));
+    });
+
+  });
+
+});