Add tests for MouseDrag GUI plugin

src/gui/plugins/mouse_drag/CMakeLists.txt

@@ -1,4 +1,5 @@
 gz_add_gui_plugin(MouseDrag
   SOURCES MouseDrag.cc
   QT_HEADERS MouseDrag.hh
+  TEST_SOURCES MouseDrag_TEST.cc
 )

src/gui/plugins/mouse_drag/MouseDrag_TEST.cc

@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2023 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/double.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+#include <gz/gui/Application.hh>
+#include <gz/gui/MainWindow.hh>
+#include <gz/gui/Plugin.hh>
+#include <gz/transport/Node.hh>
+#include <gz/utils/ExtraTestMacros.hh>
+
+#include <string>
+#include <vector>
+#include <algorithm>
+
+#include "test_config.hh"
+#include "../../../../test/helpers/EnvTestFixture.hh"
+
+#include "../../GuiRunner.hh"
+
+#include "MouseDrag.hh"
+
+int g_argc = 1;
+char **g_argv;
+
+using namespace gz;
+
+/// \brief Tests for the mouse drag GU  I plugin
+class MouseDragGui : public InternalFixture<::testing::Test>
+{
+};
+
+/////////////////////////////////////////////////
+TEST_F(MouseDragGui, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load))
+{
+  // Create app
+  auto app = std::make_unique<gui::Application>(g_argc, g_argv);
+  ASSERT_NE(nullptr, app);
+  app->AddPluginPath(
+    common::joinPaths(std::string(PROJECT_BINARY_PATH), "lib"));
+
+  // Create GUI runner to handle sim::gui plugins
+  auto runner = new sim::GuiRunner("default");
+  runner->setParent(gui::App());
+
+  // Add plugin
+  EXPECT_TRUE(app->LoadPlugin("MouseDrag"));
+
+  // Get main window
+  auto win = app->findChild<gui::MainWindow *>();
+  ASSERT_NE(nullptr, win);
+
+  // Get plugin
+  auto plugins = win->findChildren<
+      sim::MouseDrag *>();
+  EXPECT_EQ(plugins.size(), 1);
+
+  auto plugin = plugins[0];
+
+  EXPECT_EQ(plugin->Title(), "Mouse drag");
+
+  transport::Node node;
+  auto topic = transport::TopicUtils::AsValidTopic("/world/default/wrench");
+  EXPECT_FALSE(topic.empty());
+
+  std::vector<std::string> topics;
+  node.TopicList(topics);
+  EXPECT_NE(std::find(topics.begin(), topics.end(), topic), topics.end());
+
+  // Cleanup
+  plugins.clear();
+}

test/CMakeLists.txt

@@ -7,6 +7,7 @@ include_directories (
 
 add_subdirectory(gtest_vendor)
 add_subdirectory(benchmark)
+add_subdirectory(helpers)
 add_subdirectory(integration)
 add_subdirectory(performance)
 add_subdirectory(plugins)

test/helpers/CMakeLists.txt

@@ -0,0 +1,15 @@
+find_package(Qt5Test REQUIRED)
+
+set (qt_headers
+  GuiRelay.hh
+)
+
+QT5_WRAP_CPP(headers_MOC ${qt_headers})
+
+add_library(${PROJECT_NAME}_test_helpers SHARED
+  ${headers_MOC}
+)
+target_link_libraries(${PROJECT_NAME}_test_helpers
+  PUBLIC
+    ${PROJECT_LIBRARY_TARGET_NAME}
+)

test/helpers/GuiRelay.hh

@@ -0,0 +1,85 @@
+/*
+ * 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.
+ *
+ */
+#ifndef GZ_GUI_GUIRELAY_HH_
+#define GZ_GUI_GUIRELAY_HH_
+
+#include <gz/gui/Application.hh>
+#include <gz/gui/Export.hh>
+#include <gz/gui/MainWindow.hh>
+
+namespace gz
+{
+namespace sim
+{
+namespace test
+{
+/// \brief Helper class to be used in internal tests. It allows receiving
+/// events emitted in the GUI.
+///
+/// ## Usage
+///
+///  // Instantiate the class
+///  test::GuiRelay guiRelay;
+///
+///  // Register callback, for example:
+///  guiRelay.OnQEvent([&](QEvent *_event)
+///    {
+///      if (_event.type() == gz::gui::events::Render::kType)
+///      {
+///        // Do something
+///      }
+///    }
+///
+class GuiRelay : public QObject
+{
+  Q_OBJECT
+
+  /// \brief Constructor
+  public: GuiRelay()
+  {
+    gz::gui::App()->findChild<gz::gui::MainWindow *>()->
+      installEventFilter(this);
+  }
+
+  /// \brief Destructor
+  public: ~GuiRelay() = default;
+
+  /// \brief Wrapper around Qt's event filter
+  /// \param[in] _cb Function to be called on every received QEvent
+  public: GuiRelay &OnQEvent(std::function<void (QEvent *)> _cb)
+  {
+    this->forwardEvent = std::move(_cb);
+    return *this;
+  }
+
+  /// \brief Documentation inherited
+  public: bool eventFilter(QObject *_obj, QEvent *_event) override
+  {
+    if (this->forwardEvent)
+      this->forwardEvent(_event);
+
+    // Standard event processing
+    return QObject::eventFilter(_obj, _event);
+  }
+
+  public: std::function<void (QEvent *)> forwardEvent;
+};
+}
+}
+}
+
+#endif

test/integration/CMakeLists.txt

@@ -51,6 +51,7 @@ set(tests
   model.cc
   model_photo_shoot_default_joints.cc
   model_photo_shoot_random_joints.cc
+  mouse_drag.cc
   multicopter.cc
   multiple_servers.cc
   navsat_system.cc
@@ -102,6 +103,7 @@ set(tests_needing_display
   distortion_camera.cc
   gpu_lidar.cc
   mesh_uri.cc
+  mouse_drag.cc
   optical_tactile_plugin.cc
   reset_sensors.cc
   rgbd_camera.cc
@@ -210,6 +212,13 @@ if(TARGET INTEGRATION_reset_sensors)
   )
 endif()
 
+if(TARGET INTEGRATION_mouse_drag)
+  target_link_libraries(INTEGRATION_mouse_drag
+    ${PROJECT_LIBRARY_TARGET_NAME}-gui
+    ${PROJECT_NAME}_test_helpers
+  )
+endif()
+
 # The default timeout (240s) doesn't seem to be enough for this test.
 if(TARGET INTEGRATION_tracked_vehicle_system )
   set_tests_properties(INTEGRATION_tracked_vehicle_system PROPERTIES TIMEOUT 300)