/*
 * Copyright 2013 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>
#include <map>
#include <stdlib.h>
#include "sdf/sdf.hh"

#include "test_config.h"

const std::string SDF_ROOT_SCHEMA = std::string(PROJECT_BINARY_DIR)
  + "/sdf/" + SDF_PROTOCOL_VERSION + "/root.xsd";

const std::string SDF_TEST_PR2 = std::string(PROJECT_SOURCE_PATH)
  + "/test/integration/model/pr2.sdf";

const std::string SDF_TEST_TURTLEBOT = std::string(PROJECT_SOURCE_PATH)
  + "/test/integration/model/turtlebot.sdf";

const std::string SDF_TEST_PENDULUM = std::string(PROJECT_SOURCE_PATH)
  + "/test/integration/model/double_pendulum.sdf";


class SDFSchemaGenerator : public testing::Test
{
  public:
    void runXMLlint(const std::string & model)
    {
      std::string xmllintCmd = "xmllint --noout --schema " +
                                SDF_ROOT_SCHEMA + " " + model;
      std::cout << "CMD[" << xmllintCmd << "]\n";
      if (system(xmllintCmd.c_str()) != 0)
          FAIL() << "Fail in parsing the model";
      else
          SUCCEED();
    }
};

/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestDoblePendulum)
{
  runXMLlint(SDF_TEST_PENDULUM);
}

/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestPR2Model)
{
  runXMLlint(SDF_TEST_PR2);
}


/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestTurtleBotModel)
{
  runXMLlint(SDF_TEST_TURTLEBOT);
}