Merge branch 'ign-gazebo6' into azulradio/FOV-gui

.github/ci/packages.apt

@@ -23,6 +23,7 @@ libxi-dev
 libxmu-dev
 python3-distutils
 python3-pybind11
+python3-pytest
 qml-module-qt-labs-folderlistmodel
 qml-module-qt-labs-settings
 qml-module-qtqml-models2

include/ignition/gazebo/rendering/SceneManager.hh

@@ -21,6 +21,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -200,6 +201,19 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \return Pointer to requested visual
     public: rendering::VisualPtr VisualById(Entity _id);
 
+    /// \brief Load Actor animations
+    /// \param[in] _actor Actor
+    /// \return Animation name to ID map
+    public: std::unordered_map<std::string, unsigned int>
+        LoadAnimations(const sdf::Actor &_actor);
+
+    /// \brief Sequences Trajectories
+    /// \param[in] _trajectories Actor trajectories
+    /// \param[in] _time Actor trajectory delay start time (miliseconds)
+    public: void SequenceTrajectories(
+        std::vector<common::TrajectoryInfo>& _trajectories,
+        std::chrono::steady_clock::time_point _time);
+
     /// \brief Create an actor
     /// \param[in] _id Unique actor id
     /// \param[in] _actor Actor sdf dom

python/CMakeLists.txt

@@ -86,9 +86,25 @@ if (BUILD_TESTING)
     testFixture_TEST
   )
 
+  execute_process(COMMAND "${PYTHON_EXECUTABLE}" -m pytest --version
+    OUTPUT_VARIABLE PYTEST_output
+    ERROR_VARIABLE  PYTEST_error
+    RESULT_VARIABLE PYTEST_result)
+  if(${PYTEST_result} EQUAL 0)
+    set(pytest_FOUND TRUE)
+  else()
+    message("")
+    message(WARNING "Pytest package not available: ${PYTEST_error}")
+  endif()
+
   foreach (test ${python_tests})
-    add_test(NAME ${test}.py COMMAND
-      "${PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
+    if (pytest_FOUND)
+      add_test(NAME ${test}.py COMMAND
+        "${PYTHON_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
+    else()
+      add_test(NAME ${test}.py COMMAND
+        "${PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
+    endif()
 
     set(_env_vars)
     list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/")

src/Server_TEST.cc

@@ -1004,7 +1004,9 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath))
 TEST_P(ServerFixture, GetResourcePaths)
 {
   ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH",
-      "/tmp/some/path:/home/user/another_path");
+      std::string("/tmp/some/path") +
+      common::SystemPaths::Delimiter() +
+      std::string("/home/user/another_path"));
 
   ServerConfig serverConfig;
   gazebo::Server server(serverConfig);
@@ -1034,7 +1036,9 @@ TEST_P(ServerFixture, GetResourcePaths)
 TEST_P(ServerFixture, AddResourcePaths)
 {
   ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH",
-      "/tmp/some/path:/home/user/another_path");
+      std::string("/tmp/some/path") +
+      common::SystemPaths::Delimiter() +
+      std::string("/home/user/another_path"));
   ignition::common::setenv("SDF_PATH", "");
   ignition::common::setenv("IGN_FILE_PATH", "");
 
@@ -1063,7 +1067,9 @@ TEST_P(ServerFixture, AddResourcePaths)
   // Add path
   msgs::StringMsg_V req;
   req.add_data("/tmp/new_path");
-  req.add_data("/tmp/more:/tmp/even_more");
+  req.add_data(std::string("/tmp/more") +
+               common::SystemPaths::Delimiter() +
+               std::string("/tmp/even_more"));
   req.add_data("/tmp/some/path");
   bool executed = node.Request("/gazebo/resource_paths/add", req);
   EXPECT_TRUE(executed);
@@ -1082,7 +1088,7 @@ TEST_P(ServerFixture, AddResourcePaths)
   {
     char *pathCStr = std::getenv(env);
 
-    auto paths = common::Split(pathCStr, ':');
+    auto paths = common::Split(pathCStr, common::SystemPaths::Delimiter());
     paths.erase(std::remove_if(paths.begin(), paths.end(),
         [](std::string const &_path)
         {

src/Util.cc

@@ -408,7 +408,7 @@ std::vector<std::string> resourcePaths()
   char *gzPathCStr = std::getenv(kResourcePathEnv.c_str());
   if (gzPathCStr && *gzPathCStr != '\0')
   {
-    gzPaths = common::Split(gzPathCStr, ':');
+    gzPaths = common::Split(gzPathCStr, common::SystemPaths::Delimiter());
   }
 
   gzPaths.erase(std::remove_if(gzPaths.begin(), gzPaths.end(),
@@ -428,7 +428,7 @@ void addResourcePaths(const std::vector<std::string> &_paths)
   char *sdfPathCStr = std::getenv(kSdfPathEnv.c_str());
   if (sdfPathCStr && *sdfPathCStr != '\0')
   {
-    sdfPaths = common::Split(sdfPathCStr, ':');
+    sdfPaths = common::Split(sdfPathCStr, common::SystemPaths::Delimiter());
   }
 
   // Ignition file paths (for <uri>s)
@@ -437,15 +437,15 @@ void addResourcePaths(const std::vector<std::string> &_paths)
   char *ignPathCStr = std::getenv(systemPaths->FilePathEnv().c_str());
   if (ignPathCStr && *ignPathCStr != '\0')
   {
-    ignPaths = common::Split(ignPathCStr, ':');
+    ignPaths = common::Split(ignPathCStr, common::SystemPaths::Delimiter());
   }
 
   // Gazebo resource paths
   std::vector<std::string> gzPaths;
   char *gzPathCStr = std::getenv(kResourcePathEnv.c_str());
   if (gzPathCStr && *gzPathCStr != '\0')
   {
-    gzPaths = common::Split(gzPathCStr, ':');
+    gzPaths = common::Split(gzPathCStr, common::SystemPaths::Delimiter());
   }
 
   // Add new paths to gzPaths
@@ -474,20 +474,20 @@ void addResourcePaths(const std::vector<std::string> &_paths)
   // Update the vars
   std::string sdfPathsStr;
   for (const auto &path : sdfPaths)
-    sdfPathsStr += ':' + path;
+    sdfPathsStr += common::SystemPaths::Delimiter() + path;
 
   ignition::common::setenv(kSdfPathEnv.c_str(), sdfPathsStr.c_str());
 
   std::string ignPathsStr;
   for (const auto &path : ignPaths)
-    ignPathsStr += ':' + path;
+    ignPathsStr += common::SystemPaths::Delimiter() + path;
 
   ignition::common::setenv(
     systemPaths->FilePathEnv().c_str(), ignPathsStr.c_str());
 
   std::string gzPathsStr;
   for (const auto &path : gzPaths)
-    gzPathsStr += ':' + path;
+    gzPathsStr += common::SystemPaths::Delimiter() + path;
 
   ignition::common::setenv(kResourcePathEnv.c_str(), gzPathsStr.c_str());