71 lines
2.0 KiB
C++
71 lines
2.0 KiB
C++
/*
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* Copyright 2013 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include <map>
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#include <stdlib.h>
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#include "sdf/sdf.hh"
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#include "test_config.h"
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const std::string SDF_ROOT_SCHEMA = std::string(PROJECT_BINARY_DIR)
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+ "/sdf/" + SDF_PROTOCOL_VERSION + "/root.xsd";
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const std::string SDF_TEST_PR2 = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/model/pr2.sdf";
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const std::string SDF_TEST_TURTLEBOT = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/model/turtlebot.sdf";
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const std::string SDF_TEST_PENDULUM = std::string(PROJECT_SOURCE_PATH)
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+ "/test/integration/model/double_pendulum.sdf";
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class SDFSchemaGenerator : public testing::Test
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{
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public:
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void runXMLlint(const std::string & model)
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{
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std::string xmllintCmd = "xmllint --noout --schema " +
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SDF_ROOT_SCHEMA + " " + model;
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std::cout << "CMD[" << xmllintCmd << "]\n";
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if (system(xmllintCmd.c_str()) != 0)
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FAIL() << "Fail in parsing the model";
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else
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SUCCEED();
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}
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};
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/////////////////////////////////////////////////
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TEST_F(SDFSchemaGenerator, TestDoblePendulum)
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{
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runXMLlint(SDF_TEST_PENDULUM);
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}
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/////////////////////////////////////////////////
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TEST_F(SDFSchemaGenerator, TestPR2Model)
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{
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runXMLlint(SDF_TEST_PR2);
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}
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/////////////////////////////////////////////////
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TEST_F(SDFSchemaGenerator, TestTurtleBotModel)
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{
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runXMLlint(SDF_TEST_TURTLEBOT);
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}
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