101 lines
2.7 KiB
C++
101 lines
2.7 KiB
C++
/*
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* Copyright (C) 2012 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 <stdio.h>
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#include <boost/lexical_cast.hpp>
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#include <boost/algorithm/string/trim.hpp>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/msgs/MsgFactory.hh"
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#include "test_config.h"
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#include "test/util.hh"
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class MsgFactory : public gazebo::testing::AutoLogFixture { };
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std::string custom_exec(const std::string &_cmd)
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{
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FILE* pipe = popen(_cmd.c_str(), "r");
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if (!pipe)
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return "ERROR";
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char buffer[128];
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std::string result = "";
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while (!feof(pipe))
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{
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if (fgets(buffer, 128, pipe) != NULL)
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result += buffer;
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}
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pclose(pipe);
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return result;
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}
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/////////////////////////////////////////////////
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/// Check for null when asked for a bad message type
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TEST_F(MsgFactory, BadMsgType)
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{
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boost::shared_ptr<google::protobuf::Message> msg =
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gazebo::msgs::MsgFactory::NewMsg("bad");
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EXPECT_EQ(NULL, msg.get());
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}
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/////////////////////////////////////////////////
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/// Check to make sure that NewMsg works properly
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TEST_F(MsgFactory, NewMsg)
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{
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gazebo::msgs::Vector3d goodMsg;
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goodMsg.set_x(1.1);
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goodMsg.set_y(2.2);
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goodMsg.set_z(3.3);
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std::string serializedData;
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goodMsg.SerializeToString(&serializedData);
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gazebo::msgs::Vector3dPtr msg =
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boost::dynamic_pointer_cast<gazebo::msgs::Vector3d>(
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gazebo::msgs::MsgFactory::NewMsg("gazebo.msgs.Vector3d"));
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msg->ParseFromString(serializedData);
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EXPECT_NEAR(msg->x(), 1.1, 1e-6);
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EXPECT_NEAR(msg->y(), 2.2, 1e-6);
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EXPECT_NEAR(msg->z(), 3.3, 1e-6);
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}
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/////////////////////////////////////////////////
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/// Check to make sure that all the proto files have been registered
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TEST_F(MsgFactory, AllTypes)
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{
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std::vector<std::string> types;
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gazebo::msgs::MsgFactory::GetMsgTypes(types);
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std::string protoCount = custom_exec(std::string("ls ") +
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PROJECT_SOURCE_PATH + "/gazebo/msgs/*.proto | wc -l");
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boost::trim(protoCount);
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EXPECT_EQ(boost::lexical_cast<size_t>(protoCount), types.size());
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}
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/////////////////////////////////////////////////
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/// Main
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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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