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testFixture.py
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testFixture.py
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#!/usr/bin/python3
# Copyright (C) 2021 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.
# If you compiled Ignition Gazebo from source you should modify your
# `PYTHONPATH`:
#
# export PYTHONPATH=$PYTHONPATH:<path to ws>/install/lib/python
#
# Now you can run the example:
#
# python3 examples/scripts/python_api/helperFixture.py
import os
from ignition.common import set_verbosity
from ignition.gazebo import TestFixture, World, world_entity
from ignition.math import Vector3d
from sdformat import Element
set_verbosity(4)
file_path = os.path.dirname(os.path.realpath(__file__))
helper = TestFixture(os.path.join(file_path, 'gravity.sdf'))
post_iterations = 0
iterations = 0
pre_iterations = 0
first_iteration = True
def on_pre_udpate_cb(_info, _ecm):
global pre_iterations
global first_iteration
pre_iterations += 1
if first_iteration:
first_iteration = False
world_e = world_entity(_ecm)
print('World entity is ', world_e)
w = World(world_e)
v = w.gravity(_ecm)
print('Gravity ', v)
modelEntity = w.model_by_name(_ecm, 'falling')
print('Entity for falling model is: ', modelEntity)
def on_udpate_cb(_info, _ecm):
global iterations
iterations += 1
def on_post_udpate_cb(_info, _ecm):
global post_iterations
post_iterations += 1
if _info.sim_time.seconds == 1:
print('Post update sim time: ', _info.sim_time)
helper.on_post_update(on_post_udpate_cb)
helper.on_update(on_udpate_cb)
helper.on_pre_update(on_pre_udpate_cb)
helper.finalize()
server = helper.server()
server.run(True, 1000, False)
print('iterations ', iterations)
print('post_iterations ', post_iterations)
print('pre_iterations ', pre_iterations)