From 2eb2ee054c984b6573c6fbf4f7edcf84f2fc29de Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Fri, 16 Apr 2021 17:53:12 -0700
Subject: [PATCH 01/13] Start porting events from ign-gazebo

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 src/plugins/scene3d/CMakeLists.txt  |   2 +-
 src/plugins/scene3d/Scene3D.cc      | 201 +++++++++++++++++++++++++---
 src/plugins/scene3d/Scene3D.hh      |  49 +++++++
 src/plugins/scene3d/Scene3D_TEST.cc |  87 ++++++------
 4 files changed, 275 insertions(+), 64 deletions(-)

diff --git a/src/plugins/scene3d/CMakeLists.txt b/src/plugins/scene3d/CMakeLists.txt
index 469226031..e16e8d536 100644
--- a/src/plugins/scene3d/CMakeLists.txt
+++ b/src/plugins/scene3d/CMakeLists.txt
@@ -4,7 +4,7 @@ ign_gui_add_plugin(Scene3D
   QT_HEADERS
     Scene3D.hh
   TEST_SOURCES
-    # Scene3D_TEST.cc
+    Scene3D_TEST.cc
   PUBLIC_LINK_LIBS
    ${IGNITION-RENDERING_LIBRARIES}
 )
diff --git a/src/plugins/scene3d/Scene3D.cc b/src/plugins/scene3d/Scene3D.cc
index 93a9b0180..fe0a2b519 100644
--- a/src/plugins/scene3d/Scene3D.cc
+++ b/src/plugins/scene3d/Scene3D.cc
@@ -25,6 +25,7 @@
 #include <vector>
 
 #include <ignition/common/Console.hh>
+#include <ignition/common/KeyEvent.hh>
 #include <ignition/common/MouseEvent.hh>
 #include <ignition/plugin/Register.hh>
 #include <ignition/common/MeshManager.hh>
@@ -207,9 +208,15 @@ namespace plugins
     /// \brief Flag to indicate if mouse event is dirty
     public: bool mouseDirty = false;
 
+    /// \brief Flag to indicate if hover event is dirty
+    public: bool hoverDirty = false;
+
     /// \brief Mouse event
     public: common::MouseEvent mouseEvent;
 
+    /// \brief Key event
+    public: common::KeyEvent keyEvent;
+
     /// \brief Mouse move distance since last event.
     public: math::Vector2d drag;
 
@@ -222,6 +229,9 @@ namespace plugins
     /// \brief Camera orbit controller
     public: rendering::OrbitViewController viewControl;
 
+    /// \brief The currently hovered mouse position in screen coordinates
+    public: math::Vector2i mouseHoverPos{math::Vector2i::Zero};
+
     /// \brief Ray query for mouse clicks
     public: rendering::RayQueryPtr rayQuery;
 
@@ -885,6 +895,15 @@ void IgnRenderer::Render()
 void IgnRenderer::HandleMouseEvent()
 {
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  this->BroadcastHoverPos();
+  this->BroadcastLeftClick();
+  this->BroadcastRightClick();
+  this->HandleMouseViewControl();
+}
+
+/////////////////////////////////////////////////
+void IgnRenderer::HandleMouseViewControl()
+{
   if (!this->dataPtr->mouseDirty)
     return;
 
@@ -939,6 +958,106 @@ void IgnRenderer::HandleMouseEvent()
   this->dataPtr->mouseDirty = false;
 }
 
+////////////////////////////////////////////////
+void IgnRenderer::HandleKeyPress(QKeyEvent *_e)
+{
+  if (_e->isAutoRepeat())
+    return;
+
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+
+  this->dataPtr->keyEvent.SetKey(_e->key());
+  this->dataPtr->keyEvent.SetText(_e->text().toStdString());
+
+  this->dataPtr->keyEvent.SetControl(
+    (_e->modifiers() & Qt::ControlModifier));
+  this->dataPtr->keyEvent.SetShift(
+    (_e->modifiers() & Qt::ShiftModifier));
+  this->dataPtr->keyEvent.SetAlt(
+    (_e->modifiers() & Qt::AltModifier));
+
+  this->dataPtr->mouseEvent.SetControl(this->dataPtr->keyEvent.Control());
+  this->dataPtr->mouseEvent.SetShift(this->dataPtr->keyEvent.Shift());
+  this->dataPtr->mouseEvent.SetAlt(this->dataPtr->keyEvent.Alt());
+  this->dataPtr->keyEvent.SetType(common::KeyEvent::PRESS);
+}
+
+////////////////////////////////////////////////
+void IgnRenderer::HandleKeyRelease(QKeyEvent *_e)
+{
+  if (_e->isAutoRepeat())
+    return;
+
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+
+  this->dataPtr->keyEvent.SetKey(0);
+
+  this->dataPtr->keyEvent.SetControl(
+    (_e->modifiers() & Qt::ControlModifier)
+    && (_e->key() != Qt::Key_Control));
+  this->dataPtr->keyEvent.SetShift(
+    (_e->modifiers() & Qt::ShiftModifier)
+    && (_e->key() != Qt::Key_Shift));
+  this->dataPtr->keyEvent.SetAlt(
+    (_e->modifiers() & Qt::AltModifier)
+    && (_e->key() != Qt::Key_Alt));
+
+  this->dataPtr->mouseEvent.SetControl(this->dataPtr->keyEvent.Control());
+  this->dataPtr->mouseEvent.SetShift(this->dataPtr->keyEvent.Shift());
+  this->dataPtr->mouseEvent.SetAlt(this->dataPtr->keyEvent.Alt());
+  this->dataPtr->keyEvent.SetType(common::KeyEvent::RELEASE);
+}
+
+/////////////////////////////////////////////////
+void IgnRenderer::BroadcastHoverPos()
+{
+  if (!this->dataPtr->hoverDirty)
+    return;
+
+  auto pos = this->ScreenToScene(this->dataPtr->mouseHoverPos);
+
+  events::HoverToScene hoverToSceneEvent(pos);
+  App()->sendEvent(App()->findChild<MainWindow *>(), &hoverToSceneEvent);
+}
+
+/////////////////////////////////////////////////
+void IgnRenderer::BroadcastLeftClick()
+{
+  if (!this->dataPtr->mouseDirty)
+    return;
+
+  if (this->dataPtr->mouseEvent.Dragging())
+    return;
+
+  if (this->dataPtr->mouseEvent.Button() != common::MouseEvent::LEFT ||
+      this->dataPtr->mouseEvent.Type() != common::MouseEvent::RELEASE)
+    return;
+
+  auto pos = this->ScreenToScene(this->dataPtr->mouseEvent.Pos());
+
+  events::LeftClickToScene leftClickToSceneEvent(pos);
+  App()->sendEvent(App()->findChild<MainWindow *>(), &leftClickToSceneEvent);
+}
+
+/////////////////////////////////////////////////
+void IgnRenderer::BroadcastRightClick()
+{
+  if (!this->dataPtr->mouseDirty)
+    return;
+
+  if (this->dataPtr->mouseEvent.Dragging())
+    return;
+
+  if (this->dataPtr->mouseEvent.Button() != common::MouseEvent::RIGHT ||
+      this->dataPtr->mouseEvent.Type() != common::MouseEvent::RELEASE)
+    return;
+
+  auto pos = this->ScreenToScene(this->dataPtr->mouseEvent.Pos());
+
+  events::RightClickToScene rightClickToSceneEvent(pos);
+  App()->sendEvent(App()->findChild<MainWindow *>(), &rightClickToSceneEvent);
+}
+
 /////////////////////////////////////////////////
 void IgnRenderer::Initialize()
 {
@@ -1016,6 +1135,14 @@ void IgnRenderer::Destroy()
   }
 }
 
+/////////////////////////////////////////////////
+void IgnRenderer::NewHoverEvent(const math::Vector2i &_hoverPos)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  this->dataPtr->mouseHoverPos = _hoverPos;
+  this->dataPtr->hoverDirty = true;
+}
+
 /////////////////////////////////////////////////
 void IgnRenderer::NewMouseEvent(const common::MouseEvent &_e,
     const math::Vector2d &_drag)
@@ -1455,6 +1582,12 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   }
 }
 
+/////////////////////////////////////////////////
+void RenderWindowItem::OnHovered(const ignition::math::Vector2i &_hoverPos)
+{
+  this->dataPtr->renderThread->ignRenderer.NewHoverEvent(_hoverPos);
+}
+
 /////////////////////////////////////////////////
 void RenderWindowItem::mousePressEvent(QMouseEvent *_e)
 {
@@ -1505,23 +1638,57 @@ void RenderWindowItem::wheelEvent(QWheelEvent *_e)
       this->dataPtr->mouseEvent, math::Vector2d(scroll, scroll));
 }
 
-///////////////////////////////////////////////////
-// void Scene3D::resizeEvent(QResizeEvent *_e)
-// {
-//  if (this->dataPtr->renderWindow)
-//  {
-//    this->dataPtr->renderWindow->OnResize(_e->size().width(),
-//                                          _e->size().height());
-//  }
-//
-//  if (this->dataPtr->camera)
-//  {
-//    this->dataPtr->camera->SetAspectRatio(
-//        static_cast<double>(this->width()) / this->height());
-//    this->dataPtr->camera->SetHFOV(M_PI * 0.5);
-//  }
-// }
-//
+////////////////////////////////////////////////
+void RenderWindowItem::HandleKeyPress(QKeyEvent *_e)
+{
+  this->dataPtr->renderThread->ignRenderer.HandleKeyPress(_e);
+}
+
+////////////////////////////////////////////////
+void RenderWindowItem::HandleKeyRelease(QKeyEvent *_e)
+{
+  this->dataPtr->renderThread->ignRenderer.HandleKeyRelease(_e);
+}
+
+/////////////////////////////////////////////////
+bool Scene3D::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == QEvent::KeyPress)
+  {
+    QKeyEvent *keyEvent = static_cast<QKeyEvent*>(_event);
+    if (keyEvent)
+    {
+      auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
+      renderWindow->HandleKeyPress(keyEvent);
+    }
+  }
+  else if (_event->type() == QEvent::KeyRelease)
+  {
+    QKeyEvent *keyEvent = static_cast<QKeyEvent*>(_event);
+    if (keyEvent)
+    {
+      auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
+      renderWindow->HandleKeyRelease(keyEvent);
+    }
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+void Scene3D::OnHovered(int _mouseX, int _mouseY)
+{
+  auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
+  renderWindow->OnHovered({_mouseX, _mouseY});
+}
+
+/////////////////////////////////////////////////
+void Scene3D::OnFocusWindow()
+{
+  auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
+  renderWindow->forceActiveFocus();
+}
 
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gui::plugins::Scene3D,
diff --git a/src/plugins/scene3d/Scene3D.hh b/src/plugins/scene3d/Scene3D.hh
index 1c51054be..859d39605 100644
--- a/src/plugins/scene3d/Scene3D.hh
+++ b/src/plugins/scene3d/Scene3D.hh
@@ -68,6 +68,18 @@ namespace plugins
     /// \brief Destructor
     public: virtual ~Scene3D();
 
+    /// \brief Callback when the mouse hovers to a new position.
+    /// \param[in] _mouseX x coordinate of the hovered mouse position.
+    /// \param[in] _mouseY y coordinate of the hovered mouse position.
+    public slots: void OnHovered(int _mouseX, int _mouseY);
+
+    /// \brief Callback when the mouse enters the render window to
+    /// focus the window for mouse/key events
+    public slots: void OnFocusWindow();
+
+    // Documentation inherited
+    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
     // Documentation inherited
     public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
         override;
@@ -106,9 +118,33 @@ namespace plugins
     public: void NewMouseEvent(const common::MouseEvent &_e,
         const math::Vector2d &_drag = math::Vector2d::Zero);
 
+    /// \brief New hover event triggered.
+    /// \param[in] _hoverPos Mouse hover screen position
+    public: void NewHoverEvent(const math::Vector2i &_hoverPos);
+
+    /// \brief Handle key press event for snapping
+    /// \param[in] _e The key event to process.
+    public: void HandleKeyPress(QKeyEvent *_e);
+
+    /// \brief Handle key release event for snapping
+    /// \param[in] _e The key event to process.
+    public: void HandleKeyRelease(QKeyEvent *_e);
+
     /// \brief Handle mouse event for view control
     private: void HandleMouseEvent();
 
+    /// \brief Handle mouse event for view control
+    private: void HandleMouseViewControl();
+
+    /// \brief Broadcasts the currently hovered 3d scene location.
+    private: void BroadcastHoverPos();
+
+    /// \brief Broadcasts a left click within the scene
+    private: void BroadcastLeftClick();
+
+    /// \brief Broadcasts a right click within the scene
+    private: void BroadcastRightClick();
+
     /// \brief Retrieve the first point on a surface in the 3D scene hit by a
     /// ray cast from the given 2D screen coordinates.
     /// \param[in] _screenPos 2D coordinates on the screen, in pixels.
@@ -254,9 +290,22 @@ namespace plugins
     /// \param[in] _topic Scene topic
     public: void SetSceneTopic(const std::string &_topic);
 
+    /// \brief Called when the mouse hovers to a new position.
+    /// \param[in] _hoverPos 2D coordinates of the hovered mouse position on
+    /// the render window.
+    public: void OnHovered(const ignition::math::Vector2i &_hoverPos);
+
     /// \brief Slot called when thread is ready to be started
     public Q_SLOTS: void Ready();
 
+    /// \brief Handle key press event for snapping
+    /// \param[in] _e The key event to process.
+    public: void HandleKeyPress(QKeyEvent *_e);
+
+    /// \brief Handle key release event for snapping
+    /// \param[in] _e The key event to process.
+    public: void HandleKeyRelease(QKeyEvent *_e);
+
     // Documentation inherited
     protected: virtual void mousePressEvent(QMouseEvent *_e) override;
 
diff --git a/src/plugins/scene3d/Scene3D_TEST.cc b/src/plugins/scene3d/Scene3D_TEST.cc
index 8db1ad7ee..b461cc475 100644
--- a/src/plugins/scene3d/Scene3D_TEST.cc
+++ b/src/plugins/scene3d/Scene3D_TEST.cc
@@ -19,64 +19,57 @@
 #include <ignition/common/Console.hh>
 #include <ignition/math/Color.hh>
 #include <ignition/math/Pose3.hh>
-#include <ignition/rendering.hh>
-
-#include "ignition/gui/Iface.hh"
-#include "ignition/gui/MainWindow.hh"
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/RenderEngine.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Scene.hh>
+#include <ignition/utilities/ExtraTestMacros.hh>
+
+#include "test_config.h"  // NOLINT(build/include)
+#include "ignition/gui/Application.hh"
 #include "ignition/gui/Plugin.hh"
+#include "ignition/gui/MainWindow.hh"
+
+#include "Scene3D.hh"
+
+int g_argc = 1;
+char **g_argv = new char *[g_argc];
 
 using namespace ignition;
 using namespace gui;
 
 /////////////////////////////////////////////////
-TEST(Scene3DTest, Load)
+TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load))
 {
-  setVerbosity(4);
-  EXPECT_TRUE(initApp());
-
-  EXPECT_TRUE(loadPlugin("Scene3D"));
+  common::Console::SetVerbosity(4);
 
-  EXPECT_TRUE(stop());
-}
+  Application app(g_argc, g_argv);
+  app.AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
 
-/////////////////////////////////////////////////
-TEST(Scene3DTest, Resize)
-{
-  setVerbosity(4);
-  EXPECT_TRUE(initApp());
+  EXPECT_TRUE(app.LoadPlugin("Scene3D"));
 
-  // Load plugin
-  EXPECT_TRUE(loadPlugin("Scene3D"));
+  // Get main window
+  auto win = app.findChild<MainWindow *>();
+  ASSERT_NE(nullptr, win);
 
-  // Create main window
-  EXPECT_TRUE(createMainWindow());
+  // Get plugin
+  auto plugins = win->findChildren<Plugin *>();
+  EXPECT_EQ(plugins.size(), 1);
 
-  // Close window after some time
-  auto win = mainWindow();
-  ASSERT_NE(nullptr, win);
+  auto plugin = plugins[0];
+  EXPECT_EQ(plugin->Title(), "3D Scene");
 
-  QTimer::singleShot(300, [&win]()
-  {
-    // Check there are no segfaults when resizing
-    for (auto i : {100, 300, 200, 500, 400})
-    {
-      win->resize(i + (qrand() % 100), i + (qrand() % 100));
-      QCoreApplication::processEvents();
-    }
-    win->close();
-  });
-
-  // Show window
-  EXPECT_TRUE(runMainWindow());
-
-  EXPECT_TRUE(stop());
+  // Cleanup
+  plugins.clear();
 }
 
 /////////////////////////////////////////////////
-TEST(Scene3DTest, Config)
+TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
 {
-  setVerbosity(4);
-  EXPECT_TRUE(initApp());
+  common::Console::SetVerbosity(4);
+
+  Application app(g_argc, g_argv);
+  app.AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
 
   // Load plugin
   const char *pluginStr =
@@ -90,11 +83,15 @@ TEST(Scene3DTest, Config)
 
   tinyxml2::XMLDocument pluginDoc;
   pluginDoc.Parse(pluginStr);
-  EXPECT_TRUE(ignition::gui::loadPlugin("Scene3D",
+  EXPECT_TRUE(app.LoadPlugin("Scene3D",
       pluginDoc.FirstChildElement("plugin")));
 
-  // Create main window
-  EXPECT_TRUE(createMainWindow());
+  // Get main window
+  auto win = app.findChild<MainWindow *>();
+  ASSERT_NE(nullptr, win);
+
+  // Show, but don't exec, so we don't block
+  win->QuickWindow()->show();
 
   // Check scene
   auto engine = rendering::engine("ogre");
@@ -116,7 +113,5 @@ TEST(Scene3DTest, Config)
   ASSERT_NE(nullptr, camera);
 
   EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1.57), camera->WorldPose());
-
-  EXPECT_TRUE(stop());
 }
 

From 8299a15bf5459adb05810afccd6254e9b61c12b5 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Thu, 29 Apr 2021 11:27:37 -0700
Subject: [PATCH 02/13] Remove test that fails due to #216

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 src/plugins/scene3d/Scene3D_TEST.cc | 58 -----------------------------
 1 file changed, 58 deletions(-)

diff --git a/src/plugins/scene3d/Scene3D_TEST.cc b/src/plugins/scene3d/Scene3D_TEST.cc
index b461cc475..8120ed751 100644
--- a/src/plugins/scene3d/Scene3D_TEST.cc
+++ b/src/plugins/scene3d/Scene3D_TEST.cc
@@ -17,12 +17,6 @@
 
 #include <gtest/gtest.h>
 #include <ignition/common/Console.hh>
-#include <ignition/math/Color.hh>
-#include <ignition/math/Pose3.hh>
-#include <ignition/rendering/Camera.hh>
-#include <ignition/rendering/RenderEngine.hh>
-#include <ignition/rendering/RenderingIface.hh>
-#include <ignition/rendering/Scene.hh>
 #include <ignition/utilities/ExtraTestMacros.hh>
 
 #include "test_config.h"  // NOLINT(build/include)
@@ -63,55 +57,3 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load))
   plugins.clear();
 }
 
-/////////////////////////////////////////////////
-TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
-{
-  common::Console::SetVerbosity(4);
-
-  Application app(g_argc, g_argv);
-  app.AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
-
-  // Load plugin
-  const char *pluginStr =
-    "<plugin filename=\"Scene3D\">"
-      "<engine>ogre</engine>"
-      "<scene>banana</scene>"
-      "<ambient_light>1.0 0 0</ambient_light>"
-      "<background_color>0 1 0</background_color>"
-      "<camera_pose>1 2 3 0 0 1.57</camera_pose>"
-    "</plugin>";
-
-  tinyxml2::XMLDocument pluginDoc;
-  pluginDoc.Parse(pluginStr);
-  EXPECT_TRUE(app.LoadPlugin("Scene3D",
-      pluginDoc.FirstChildElement("plugin")));
-
-  // Get main window
-  auto win = app.findChild<MainWindow *>();
-  ASSERT_NE(nullptr, win);
-
-  // Show, but don't exec, so we don't block
-  win->QuickWindow()->show();
-
-  // Check scene
-  auto engine = rendering::engine("ogre");
-  ASSERT_NE(nullptr, engine);
-
-  auto scene = engine->SceneByName("banana");
-  ASSERT_NE(nullptr, scene);
-
-  EXPECT_EQ(math::Color(0, 1, 0), scene->BackgroundColor());
-  EXPECT_EQ(math::Color(1, 0, 0), scene->AmbientLight());
-
-  auto root = scene->RootVisual();
-  ASSERT_NE(nullptr, root);
-  EXPECT_EQ(1u, root->ChildCount());
-
-  // Check camera
-  auto camera = std::dynamic_pointer_cast<rendering::Camera>(
-      root->ChildByIndex(0));
-  ASSERT_NE(nullptr, camera);
-
-  EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1.57), camera->WorldPose());
-}
-

From 899b97a0ce15efbbd93640669592a367c68a510c Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Thu, 6 May 2021 11:51:05 -0700
Subject: [PATCH 03/13] Move Scene3d_TEST.cc to test/integration

There seems to be a problem with loading the ignition-rendering-ogre
plugin from the Scene3D test if it links to that plugin. Making
Scene3D_TEST.cc into an integration test works because it doesn't
directly call any plugin methods.

This also changes the linking for the Grid3D plugin to only link
to the ignition-rendering core library target instead of the
IGNITION-RENDERING_LIBRARIES variable which includes the ogre
component library plugins.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 src/plugins/grid_3d/CMakeLists.txt                         | 2 +-
 src/plugins/scene3d/CMakeLists.txt                         | 4 +---
 test/integration/CMakeLists.txt                            | 7 ++++++-
 .../scene3d/Scene3D_TEST.cc => test/integration/scene3d.cc | 3 +--
 4 files changed, 9 insertions(+), 7 deletions(-)
 rename src/plugins/scene3d/Scene3D_TEST.cc => test/integration/scene3d.cc (98%)

diff --git a/src/plugins/grid_3d/CMakeLists.txt b/src/plugins/grid_3d/CMakeLists.txt
index 6ce5eb707..444b3f566 100644
--- a/src/plugins/grid_3d/CMakeLists.txt
+++ b/src/plugins/grid_3d/CMakeLists.txt
@@ -6,6 +6,6 @@ ign_gui_add_plugin(Grid3D
   TEST_SOURCES
     # Grid3D_TEST.cc
   PUBLIC_LINK_LIBS
-   ${IGNITION-RENDERING_LIBRARIES}
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
 )
 
diff --git a/src/plugins/scene3d/CMakeLists.txt b/src/plugins/scene3d/CMakeLists.txt
index e16e8d536..5679bfcf7 100644
--- a/src/plugins/scene3d/CMakeLists.txt
+++ b/src/plugins/scene3d/CMakeLists.txt
@@ -3,9 +3,7 @@ ign_gui_add_plugin(Scene3D
     Scene3D.cc
   QT_HEADERS
     Scene3D.hh
-  TEST_SOURCES
-    Scene3D_TEST.cc
   PUBLIC_LINK_LIBS
-   ${IGNITION-RENDERING_LIBRARIES}
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
 )
 
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index 397fabacb..38a25dc78 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -1,3 +1,8 @@
 ign_get_sources(tests)
 
-ign_build_tests(TYPE INTEGRATION SOURCES ${tests})
+ign_build_tests(
+  TYPE INTEGRATION
+  SOURCES ${tests}
+  LIB_DEPS
+    ignition-plugin${IGN_PLUGIN_VER}::loader
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER})
diff --git a/src/plugins/scene3d/Scene3D_TEST.cc b/test/integration/scene3d.cc
similarity index 98%
rename from src/plugins/scene3d/Scene3D_TEST.cc
rename to test/integration/scene3d.cc
index b461cc475..78fac6d10 100644
--- a/src/plugins/scene3d/Scene3D_TEST.cc
+++ b/test/integration/scene3d.cc
@@ -30,8 +30,6 @@
 #include "ignition/gui/Plugin.hh"
 #include "ignition/gui/MainWindow.hh"
 
-#include "Scene3D.hh"
-
 int g_argc = 1;
 char **g_argv = new char *[g_argc];
 
@@ -97,6 +95,7 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   auto engine = rendering::engine("ogre");
   ASSERT_NE(nullptr, engine);
 
+  EXPECT_EQ(1u, engine->SceneCount());
   auto scene = engine->SceneByName("banana");
   ASSERT_NE(nullptr, scene);
 

From 341db2ada3959e18230a4904de0e8db18575fd0a Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Fri, 7 May 2021 15:58:57 -0700
Subject: [PATCH 04/13] process qt events to allow scene to initialize

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 test/integration/scene3d.cc | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/test/integration/scene3d.cc b/test/integration/scene3d.cc
index 78fac6d10..5a78cc096 100644
--- a/test/integration/scene3d.cc
+++ b/test/integration/scene3d.cc
@@ -95,6 +95,15 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   auto engine = rendering::engine("ogre");
   ASSERT_NE(nullptr, engine);
 
+  int sleep = 0;
+  int maxSleep = 30;
+  while (0 == engine->SceneCount() && sleep < maxSleep)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    QCoreApplication::processEvents();
+    sleep++;
+  }
+
   EXPECT_EQ(1u, engine->SceneCount());
   auto scene = engine->SceneByName("banana");
   ASSERT_NE(nullptr, scene);

From 23c057865ed3f50268bd4a94f6ac57c03fb25973 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Fri, 14 May 2021 16:42:56 -0700
Subject: [PATCH 05/13] Add test helper to check event

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 src/plugins/scene3d/Scene3D.qml | 17 +++++++++-
 test/CMakeLists.txt             |  1 +
 test/helpers/CMakeLists.txt     | 14 ++++++++
 test/helpers/TestHelper.hh      | 57 +++++++++++++++++++++++++++++++
 test/integration/CMakeLists.txt |  1 +
 test/integration/scene3d.cc     | 60 +++++++++++++++++++++++++++++++++
 6 files changed, 149 insertions(+), 1 deletion(-)
 create mode 100644 test/helpers/CMakeLists.txt
 create mode 100644 test/helpers/TestHelper.hh

diff --git a/src/plugins/scene3d/Scene3D.qml b/src/plugins/scene3d/Scene3D.qml
index 304ccf186..cb7a399e7 100644
--- a/src/plugins/scene3d/Scene3D.qml
+++ b/src/plugins/scene3d/Scene3D.qml
@@ -14,7 +14,7 @@
  * limitations under the License.
  *
 */
-import QtQuick 2.0
+import QtQuick 2.9
 import QtQuick.Controls 2.0
 import RenderWindow 1.0
 import QtGraphicalEffects 1.0
@@ -28,6 +28,21 @@ Rectangle {
    */
   property bool gammaCorrect: false
 
+  /**
+   * Get mouse position on 3D widget
+   */
+  MouseArea {
+    id: mouseArea
+    anchors.fill: parent
+    hoverEnabled: true
+    acceptedButtons: Qt.NoButton
+    onEntered: {
+      Scene3D.OnFocusWindow()
+    }
+    onPositionChanged: {
+      Scene3D.OnHovered(mouseArea.mouseX, mouseArea.mouseY);
+    }
+  }
 
   RenderWindow {
     id: renderWindow
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 6dd8ad952..d0d40bd18 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -18,6 +18,7 @@ execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_resul
 execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
 include_directories(${GTEST_INCLUDE_DIRS})
 
+add_subdirectory(helpers)
 add_subdirectory(integration)
 add_subdirectory(performance)
 add_subdirectory(plugins)
diff --git a/test/helpers/CMakeLists.txt b/test/helpers/CMakeLists.txt
new file mode 100644
index 000000000..571812a88
--- /dev/null
+++ b/test/helpers/CMakeLists.txt
@@ -0,0 +1,14 @@
+set (qt_headers
+  TestHelper.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}
+)
+
diff --git a/test/helpers/TestHelper.hh b/test/helpers/TestHelper.hh
new file mode 100644
index 000000000..36b12077d
--- /dev/null
+++ b/test/helpers/TestHelper.hh
@@ -0,0 +1,57 @@
+/*
+ * 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 IGNITION_GUI_TESTHELPER_HH_
+#define IGNITION_GUI_TESTHELPER_HH_
+
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/Export.hh>
+#include <ignition/gui/MainWindow.hh>
+
+namespace ignition
+{
+namespace gui
+{
+/// \brief
+class IGNITION_GUI_VISIBLE TestHelper : public QObject
+{
+  Q_OBJECT
+
+  /// \brief Constructor
+  public: TestHelper()
+  {
+    App()->findChild<MainWindow *>()->installEventFilter(this);
+  };
+
+  /// \brief Destructor
+  public: ~TestHelper() = default;
+
+  /// \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
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index 38a25dc78..2ee1ac044 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -4,5 +4,6 @@ ign_build_tests(
   TYPE INTEGRATION
   SOURCES ${tests}
   LIB_DEPS
+    ${PROJECT_NAME}_test_helpers
     ignition-plugin${IGN_PLUGIN_VER}::loader
     ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER})
diff --git a/test/integration/scene3d.cc b/test/integration/scene3d.cc
index 5a78cc096..676a8d6d4 100644
--- a/test/integration/scene3d.cc
+++ b/test/integration/scene3d.cc
@@ -26,7 +26,9 @@
 #include <ignition/utilities/ExtraTestMacros.hh>
 
 #include "test_config.h"  // NOLINT(build/include)
+#include "../helpers/TestHelper.hh"
 #include "ignition/gui/Application.hh"
+#include "ignition/gui/GuiEvents.hh"
 #include "ignition/gui/Plugin.hh"
 #include "ignition/gui/MainWindow.hh"
 
@@ -123,3 +125,61 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1.57), camera->WorldPose());
 }
 
+/////////////////////////////////////////////////
+TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
+{
+  common::Console::SetVerbosity(4);
+
+  Application app(g_argc, g_argv);
+  app.AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib");
+
+  // Load plugin
+  const char *pluginStr =
+    "<plugin filename=\"Scene3D\">"
+      "<engine>ogre</engine>"
+      "<scene>banana</scene>"
+      "<ambient_light>1.0 0 0</ambient_light>"
+      "<background_color>0 1 0</background_color>"
+      "<camera_pose>1 2 3 0 0 1.57</camera_pose>"
+    "</plugin>";
+
+  tinyxml2::XMLDocument pluginDoc;
+  pluginDoc.Parse(pluginStr);
+  EXPECT_TRUE(app.LoadPlugin("Scene3D",
+      pluginDoc.FirstChildElement("plugin")));
+
+  // Get main window
+  auto win = app.findChild<MainWindow *>();
+  ASSERT_NE(nullptr, win);
+
+  // Show, but don't exec, so we don't block
+  win->QuickWindow()->show();
+
+  // Flags to check if events were received
+  bool receivedRenderEvent{false};
+
+  // Helper to filter events
+  auto testHelper = std::make_unique<TestHelper>();
+  testHelper->forwardEvent = [&](QEvent *_event)
+  {
+    if (_event->type() == events::Render::kType)
+    {
+      receivedRenderEvent = true;
+    }
+  };
+
+  int sleep = 0;
+  int maxSleep = 30;
+  while (!receivedRenderEvent && sleep < maxSleep)
+  {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    QCoreApplication::processEvents();
+    sleep++;
+  }
+
+  EXPECT_TRUE(receivedRenderEvent);
+
+  // TODO(anyone) Test more events
+}
+
+

From a38108bc97bc59e9b3f07eb3443cedf2b26831e4 Mon Sep 17 00:00:00 2001
From: ahcorde <ahcorde@gmail.com>
Date: Tue, 25 May 2021 20:57:17 +0200
Subject: [PATCH 06/13] added more tests

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 test/integration/CMakeLists.txt |  6 ++++-
 test/integration/scene3d.cc     | 39 ++++++++++++++++++++++++++++-----
 2 files changed, 39 insertions(+), 6 deletions(-)

diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index 2ee1ac044..aeb5c8f1f 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -1,9 +1,13 @@
 ign_get_sources(tests)
 
+find_package(Qt5Test REQUIRED)
+
 ign_build_tests(
   TYPE INTEGRATION
   SOURCES ${tests}
   LIB_DEPS
     ${PROJECT_NAME}_test_helpers
     ignition-plugin${IGN_PLUGIN_VER}::loader
-    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER})
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+    Qt5::Test
+)
diff --git a/test/integration/scene3d.cc b/test/integration/scene3d.cc
index 676a8d6d4..af57541bb 100644
--- a/test/integration/scene3d.cc
+++ b/test/integration/scene3d.cc
@@ -16,6 +16,7 @@
 */
 
 #include <gtest/gtest.h>
+#include <QtTest/QtTest>
 #include <ignition/common/Console.hh>
 #include <ignition/math/Color.hh>
 #include <ignition/math/Pose3.hh>
@@ -157,6 +158,9 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
 
   // Flags to check if events were received
   bool receivedRenderEvent{false};
+  bool receivedRightEvent{false};
+  bool receivedLeftEvent{false};
+  bool receivedHoverEvent{false};
 
   // Helper to filter events
   auto testHelper = std::make_unique<TestHelper>();
@@ -166,20 +170,45 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
     {
       receivedRenderEvent = true;
     }
+    else if (_event->type() == events::RightClickToScene::kType)
+    {
+      receivedRightEvent = true;
+    }
+    else if (_event->type() == events::LeftClickToScene::kType)
+    {
+      receivedLeftEvent = true;
+    }
+    else if (_event->type() == events::HoverToScene::kType)
+    {
+      receivedHoverEvent = true;
+    }
   };
 
   int sleep = 0;
   int maxSleep = 30;
-  while (!receivedRenderEvent && sleep < maxSleep)
+  while ((!receivedRenderEvent || !receivedRightEvent ||
+    !receivedLeftEvent || !receivedHoverEvent) && sleep < maxSleep)
   {
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     QCoreApplication::processEvents();
+
+    QTest::mouseMove(win->QuickWindow(), QPoint(70 + sleep, 100), -1);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    QCoreApplication::processEvents();
+
+    QTest::mouseClick(win->QuickWindow(), Qt::RightButton, Qt::NoModifier);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    QCoreApplication::processEvents();
+
+    QTest::mouseClick(win->QuickWindow(), Qt::LeftButton, Qt::NoModifier);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    QCoreApplication::processEvents();
+
     sleep++;
   }
 
   EXPECT_TRUE(receivedRenderEvent);
-
-  // TODO(anyone) Test more events
+  EXPECT_TRUE(receivedLeftEvent);
+  EXPECT_TRUE(receivedRightEvent);
+  EXPECT_TRUE(receivedHoverEvent);
 }
-
-

From acfa9b82a0a7437111ac2de1b7ca5468471f1bc7 Mon Sep 17 00:00:00 2001
From: ahcorde <ahcorde@gmail.com>
Date: Tue, 25 May 2021 22:03:49 +0200
Subject: [PATCH 07/13] make linters happy

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 src/plugins/scene3d/Scene3D.hh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/plugins/scene3d/Scene3D.hh b/src/plugins/scene3d/Scene3D.hh
index 859d39605..db09195c9 100644
--- a/src/plugins/scene3d/Scene3D.hh
+++ b/src/plugins/scene3d/Scene3D.hh
@@ -325,7 +325,7 @@ namespace plugins
     /// \param[in] _data The node transformation data.
     /// \return Updated node.
     private: QSGNode *updatePaintNode(QSGNode *_oldNode,
-        QQuickItem::UpdatePaintNodeData *_data) override;
+       QQuickItem::UpdatePaintNodeData *_data) override;
 
     /// \internal
     /// \brief Pointer to private data.

From 67ed9a773e20147bc3f783027c6f958e9e04e55b Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Tue, 25 May 2021 14:05:00 -0700
Subject: [PATCH 08/13] Move TestHelper code to .cc file, fix windows?

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 test/helpers/CMakeLists.txt |  1 +
 test/helpers/TestHelper.cc  | 38 +++++++++++++++++++++++++++++++++++++
 test/helpers/TestHelper.hh  | 14 ++------------
 3 files changed, 41 insertions(+), 12 deletions(-)
 create mode 100644 test/helpers/TestHelper.cc

diff --git a/test/helpers/CMakeLists.txt b/test/helpers/CMakeLists.txt
index 571812a88..6476d26d1 100644
--- a/test/helpers/CMakeLists.txt
+++ b/test/helpers/CMakeLists.txt
@@ -5,6 +5,7 @@ set (qt_headers
 QT5_WRAP_CPP(headers_MOC ${qt_headers})
 
 add_library(${PROJECT_NAME}_test_helpers SHARED
+  TestHelper.cc
   ${headers_MOC}
 )
 target_link_libraries(${PROJECT_NAME}_test_helpers
diff --git a/test/helpers/TestHelper.cc b/test/helpers/TestHelper.cc
new file mode 100644
index 000000000..e7d70984d
--- /dev/null
+++ b/test/helpers/TestHelper.cc
@@ -0,0 +1,38 @@
+/*
+ * 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.
+ *
+ */
+
+#include "TestHelper.hh"
+
+namespace ignition
+{
+namespace gui
+{
+TestHelper::TestHelper()
+{
+  App()->findChild<MainWindow *>()->installEventFilter(this);
+}
+
+bool TestHelper::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (this->forwardEvent)
+    this->forwardEvent(_event);
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+}
+}
diff --git a/test/helpers/TestHelper.hh b/test/helpers/TestHelper.hh
index 36b12077d..ccb841768 100644
--- a/test/helpers/TestHelper.hh
+++ b/test/helpers/TestHelper.hh
@@ -31,23 +31,13 @@ class IGNITION_GUI_VISIBLE TestHelper : public QObject
   Q_OBJECT
 
   /// \brief Constructor
-  public: TestHelper()
-  {
-    App()->findChild<MainWindow *>()->installEventFilter(this);
-  };
+  public: TestHelper();
 
   /// \brief Destructor
   public: ~TestHelper() = default;
 
   /// \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: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
   public: std::function<void (QEvent *)> forwardEvent;
 };

From d925bee5900de94fd032db49a411f072385ccad1 Mon Sep 17 00:00:00 2001
From: ahcorde <ahcorde@gmail.com>
Date: Wed, 26 May 2021 09:17:59 +0200
Subject: [PATCH 09/13] Fix windows?

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 test/helpers/TestHelper.hh | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/test/helpers/TestHelper.hh b/test/helpers/TestHelper.hh
index ccb841768..8c2fee0f9 100644
--- a/test/helpers/TestHelper.hh
+++ b/test/helpers/TestHelper.hh
@@ -21,12 +21,22 @@
 #include <ignition/gui/Export.hh>
 #include <ignition/gui/MainWindow.hh>
 
+#ifndef _WIN32
+#  define TestHelper_EXPORTS_API
+#else
+#  if (defined(TestHelper_EXPORTS))
+#    define TestHelper_EXPORTS_API __declspec(dllexport)
+#  else
+#    define TestHelper_EXPORTS_API __declspec(dllimport)
+#  endif
+#endif
+
 namespace ignition
 {
 namespace gui
 {
 /// \brief
-class IGNITION_GUI_VISIBLE TestHelper : public QObject
+class TestHelper_EXPORTS_API TestHelper : public QObject
 {
   Q_OBJECT
 

From 53cbb419c851e9da58e17b133dcd579a044321d3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Herna=CC=81ndez?= <ahcorde@gmail.com>
Date: Wed, 26 May 2021 15:48:52 +0200
Subject: [PATCH 10/13] Fix windows?
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>
---
 test/helpers/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/helpers/CMakeLists.txt b/test/helpers/CMakeLists.txt
index 6476d26d1..46af75c2a 100644
--- a/test/helpers/CMakeLists.txt
+++ b/test/helpers/CMakeLists.txt
@@ -8,8 +8,8 @@ add_library(${PROJECT_NAME}_test_helpers SHARED
   TestHelper.cc
   ${headers_MOC}
 )
+target_compile_definitions(${PROJECT_NAME}_test_helpers PRIVATE TestHelper_EXPORTS)
 target_link_libraries(${PROJECT_NAME}_test_helpers
   PUBLIC
     ${PROJECT_LIBRARY_TARGET_NAME}
 )
-

From 48171dd6ff162271cc8161ef529bcb3320f9a7b3 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Wed, 26 May 2021 23:55:07 -0700
Subject: [PATCH 11/13] Expect values of Vector3 point in click events

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 test/integration/scene3d.cc | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/test/integration/scene3d.cc b/test/integration/scene3d.cc
index af57541bb..8377bd435 100644
--- a/test/integration/scene3d.cc
+++ b/test/integration/scene3d.cc
@@ -162,6 +162,9 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
   bool receivedLeftEvent{false};
   bool receivedHoverEvent{false};
 
+  // Position vectors reported by click events
+  math::Vector3d leftClickPoint, rightClickPoint;
+
   // Helper to filter events
   auto testHelper = std::make_unique<TestHelper>();
   testHelper->forwardEvent = [&](QEvent *_event)
@@ -173,14 +176,21 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
     else if (_event->type() == events::RightClickToScene::kType)
     {
       receivedRightEvent = true;
+      auto rightClickToScene = static_cast<events::RightClickToScene*>(_event);
+      rightClickPoint = rightClickToScene->Point();
     }
     else if (_event->type() == events::LeftClickToScene::kType)
     {
       receivedLeftEvent = true;
+      auto leftClickToScene = static_cast<events::LeftClickToScene*>(_event);
+      leftClickPoint = leftClickToScene->Point();
     }
     else if (_event->type() == events::HoverToScene::kType)
     {
       receivedHoverEvent = true;
+      auto hoverToScene = static_cast<events::HoverToScene*>(_event);
+      std::cerr << "hoverToScene point["
+                << hoverToScene->Point() << "]" << std::endl;
     }
   };
 
@@ -192,7 +202,7 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     QCoreApplication::processEvents();
 
-    QTest::mouseMove(win->QuickWindow(), QPoint(70 + sleep, 100), -1);
+    QTest::mouseMove(win->QuickWindow(), QPoint(70, 100), -1);
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     QCoreApplication::processEvents();
 
@@ -211,4 +221,9 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
   EXPECT_TRUE(receivedLeftEvent);
   EXPECT_TRUE(receivedRightEvent);
   EXPECT_TRUE(receivedHoverEvent);
+
+  EXPECT_EQ(leftClickPoint, rightClickPoint);
+  EXPECT_NEAR(1.0, leftClickPoint.X(), 1e-4);
+  EXPECT_NEAR(11.942695, leftClickPoint.Y(), 1e-4);
+  EXPECT_NEAR(4.159424, leftClickPoint.Z(), 1e-4);
 }

From 039ef43ec668fbc9adf99acc44eafc3f221af3dc Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Thu, 27 May 2021 00:10:47 -0700
Subject: [PATCH 12/13] Remove debug message

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 test/integration/scene3d.cc | 2 --
 1 file changed, 2 deletions(-)

diff --git a/test/integration/scene3d.cc b/test/integration/scene3d.cc
index 8377bd435..7def7bd73 100644
--- a/test/integration/scene3d.cc
+++ b/test/integration/scene3d.cc
@@ -189,8 +189,6 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
     {
       receivedHoverEvent = true;
       auto hoverToScene = static_cast<events::HoverToScene*>(_event);
-      std::cerr << "hoverToScene point["
-                << hoverToScene->Point() << "]" << std::endl;
     }
   };
 

From e75cff43e6d64fa0ce5d3ec3823b5c0d3cd51282 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@openrobotics.org>
Date: Thu, 27 May 2021 00:24:45 -0700
Subject: [PATCH 13/13] Remove unused variable

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
---
 test/integration/scene3d.cc | 1 -
 1 file changed, 1 deletion(-)

diff --git a/test/integration/scene3d.cc b/test/integration/scene3d.cc
index 7def7bd73..ea9dc239e 100644
--- a/test/integration/scene3d.cc
+++ b/test/integration/scene3d.cc
@@ -188,7 +188,6 @@ TEST(Scene3DTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Events))
     else if (_event->type() == events::HoverToScene::kType)
     {
       receivedHoverEvent = true;
-      auto hoverToScene = static_cast<events::HoverToScene*>(_event);
     }
   };