Added integration tests

examples/worlds/camera_lens_flare.sdf

@@ -346,7 +346,7 @@
           <plugin
             filename="gz-sim-lens-flare-system"
             name="gz::sim::systems::LensFlare">
-          </plugin>        
+          </plugin>
         </sensor>
       </link>
     </model>
@@ -384,7 +384,7 @@
             name="gz::sim::systems::LensFlare">
             <scale>0.5</scale>
             <color>3 3 3</color>
-          </plugin>        
+          </plugin>
         </sensor>
       </link>
     </model>

test/integration/camera_lens_flare.cc

@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2022 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>
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif
+#include <gz/msgs/image.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include "gz/sim/Server.hh"
+#include "test_config.hh"
+#include <gz/common/Console.hh>
+#include <gz/common/Util.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/transport/Node.hh>
+#include <gz/utils/ExtraTestMacros.hh>
+
+#include "plugins/MockSystem.hh"
+#include "../helpers/EnvTestFixture.hh"
+
+using namespace gz;
+using namespace sim;
+using namespace std::chrono_literals;
+
+/// \brief Test LensFlare system
+class LensFlareTest : public InternalFixture<::testing::Test>
+{
+};
+
+std::mutex mutex;
+msgs::Image imageMsg;
+unsigned char *imageBuffer = nullptr;
+
+/////////////////////////////////////////////////
+void imageCb(const msgs::Image &_msg)
+{
+  ASSERT_EQ(msgs::PixelFormatType::RGB_INT8,
+      _msg.pixel_format_type());
+
+  // Add the frame to image buffer
+  mutex.lock();
+  unsigned int imageSamples = _msg.width() * _msg.height() * 3;
+
+  if (!imageBuffer)
+    imageBuffer = new unsigned char[imageSamples];
+  memcpy(imageBuffer, _msg.data().c_str(), imageSamples);
+  mutex.unlock();
+}
+
+/////////////////////////////////////////////////
+// The test checks the Camera with Lens Flare
+TEST_F(LensFlareTest,
+    GZ_UTILS_TEST_DISABLED_ON_MAC(LensFlareTest))
+{
+  // Start server
+  ServerConfig serverConfig;
+  const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH),
+    "test", "worlds", "camera_lens_flare.sdf");
+  serverConfig.SetSdfFile(sdfFile);
+
+  Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(*server.Running(0));
+
+  // Subscribe to the image topic
+  transport::Node node;
+  node.Subscribe("/camera_lens_flare", &imageCb);
+
+  // Run server and verify that we are receiving a message
+  // from the camera with lens flare
+  size_t iters100 = 100u;
+  server.Run(true, iters100, false);
+
+  int sleep{0};
+  int maxSleep{30};
+  while (imageBuffer == nullptr && sleep < maxSleep)
+  {
+    std::this_thread::sleep_for(100ms);
+    sleep++;
+  }
+  EXPECT_LT(sleep, maxSleep);
+  ASSERT_NE(imageBuffer, nullptr);
+
+  delete[] imageBuffer;
+}

test/worlds/camera_lens_flare.sdf

@@ -0,0 +1,124 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="lights">
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre</render_engine>
+      <background_color>0 0 0 1</background_color>
+    </plugin>
+
+    <light type="directional" name="directional">
+      <cast_shadows>true</cast_shadows>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <pose>3 0 -0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <size>5 8</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <size>5 8</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.5 0.5 0.5 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name='camera_model_normal'>
+      <static>1</static>
+      <pose>0 0 0 0 0.0 0</pose>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_normal' type='camera'>
+          <visualize>1</visualize>
+          <camera>
+            <horizontal_fov>0.927295218</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <topic>camera_normal</topic>
+        </sensor>
+      </link>
+    </model>
+
+    <model name='camera_model_lens_flare'>
+      <static>1</static>
+      <pose>0 0 0 0 0.0 0</pose>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.1 0.1 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <sensor name='camera_lens_flare' type='camera'>
+          <visualize>1</visualize>
+          <camera>
+            <horizontal_fov>0.927295218</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>100</far>
+            </clip>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <topic>camera_lens_flare</topic>
+          <plugin
+            filename="gz-sim-lens-flare-system"
+            name="gz::sim::systems::LensFlare">
+          </plugin>
+        </sensor>
+      </link>
+    </model>
+
+  </world>
+</sdf>