137 lines
3.5 KiB
C++
137 lines
3.5 KiB
C++
/*
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* Copyright (C) 2014 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 <boost/filesystem.hpp>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class PluginTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(PluginTest, ModelExceptionConstructor)
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{
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Load("worlds/exception_model_plugin_constructor_test.world", true);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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gazebo::physics::ModelPtr model = world->GetModel("box");
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ASSERT_TRUE(model != NULL);
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world->Step(100);
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char *home = getenv("HOME");
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ASSERT_TRUE(home);
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boost::filesystem::path path(home);
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path /= "/.gazebo/server-11345/default.log";
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// Open the log file, and read back the string
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std::ifstream ifs(path.string().c_str(), std::ios::in);
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std::string loggedString;
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while (!ifs.eof())
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{
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std::string line;
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std::getline(ifs, line);
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loggedString += line;
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}
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EXPECT_TRUE(loggedString.find(
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"Exception occured in the constructor of plugin with name") !=
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std::string::npos);
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}
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/////////////////////////////////////////////////
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TEST_F(PluginTest, ModelExceptionInit)
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{
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Load("worlds/exception_model_plugin_init_test.world", true);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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gazebo::physics::ModelPtr model = world->GetModel("box");
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ASSERT_TRUE(model != NULL);
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world->Step(100);
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char *home = getenv("HOME");
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ASSERT_TRUE(home);
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boost::filesystem::path path(home);
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path /= "/.gazebo/server-11345/default.log";
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// Open the log file, and read back the string
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std::ifstream ifs(path.string().c_str(), std::ios::in);
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std::string loggedString;
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while (!ifs.eof())
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{
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std::string line;
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std::getline(ifs, line);
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loggedString += line;
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}
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EXPECT_TRUE(loggedString.find(
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"Exception occured in the Init function of plugin with name") !=
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std::string::npos);
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}
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/////////////////////////////////////////////////
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TEST_F(PluginTest, ModelExceptionLoad)
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{
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Load("worlds/exception_model_plugin_load_test.world", true);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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gazebo::physics::ModelPtr model = world->GetModel("box");
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ASSERT_TRUE(model != NULL);
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world->Step(100);
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char *home = getenv("HOME");
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ASSERT_TRUE(home);
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boost::filesystem::path path(home);
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path /= "/.gazebo/server-11345/default.log";
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// Open the log file, and read back the string
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std::ifstream ifs(path.string().c_str(), std::ios::in);
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std::string loggedString;
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while (!ifs.eof())
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{
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std::string line;
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std::getline(ifs, line);
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loggedString += line;
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}
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EXPECT_TRUE(loggedString.find(
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"Exception occured in the Load function of plugin with name") !=
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std::string::npos);
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}
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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