96 lines
2.2 KiB
C++
96 lines
2.2 KiB
C++
|
/*
|
||
|
|
* Copyright 2015 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 <iostream>
|
||
|
|
#include <gtest/gtest.h>
|
||
|
|
#include "sdf/sdf.hh"
|
||
|
|
#include "sdf/parser_urdf.hh"
|
||
|
|
|
||
|
|
#include "test_config.h"
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
std::string custom_exec(std::string _cmd)
|
||
|
|
{
|
||
|
|
#ifdef _WIN32
|
||
|
|
FILE *pipe = _popen(_cmd.c_str(), "r");
|
||
|
|
#else
|
||
|
|
FILE *pipe = popen(_cmd.c_str(), "r");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
if (!pipe)
|
||
|
|
return "ERROR";
|
||
|
|
|
||
|
|
char buffer[128];
|
||
|
|
std::string result = "";
|
||
|
|
|
||
|
|
while (!feof(pipe))
|
||
|
|
{
|
||
|
|
if (fgets(buffer, 128, pipe) != NULL)
|
||
|
|
result += buffer;
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef _WIN32
|
||
|
|
_pclose(pipe);
|
||
|
|
#else
|
||
|
|
pclose(pipe);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
const std::string sdfString(
|
||
|
|
"<?xml version='1.0'?>\n"
|
||
|
|
"<sdf version='1.5'>\n"
|
||
|
|
" <model name='break_bot'>\n"
|
||
|
|
" <link name='root-link'>\n"
|
||
|
|
" <sensor type='gps' name='mysensor' />"
|
||
|
|
" </link>\n"
|
||
|
|
" </model>\n"
|
||
|
|
"</sdf>");
|
||
|
|
|
||
|
|
const std::string pythonMeminfo("python "
|
||
|
|
PROJECT_SOURCE_PATH "/tools/get_mem_info.py");
|
||
|
|
|
||
|
|
int getMemoryUsage()
|
||
|
|
{
|
||
|
|
return std::stoi(custom_exec(pythonMeminfo));
|
||
|
|
}
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////
|
||
|
|
TEST(ElementMemoryLeak, SDFCreateDestroy)
|
||
|
|
{
|
||
|
|
// Initial memory usage
|
||
|
|
int memoryLimit = getMemoryUsage();
|
||
|
|
std::cout << "initial memory: " << memoryLimit << std::endl;
|
||
|
|
|
||
|
|
// Allow 15x increase (based on testing with Ubuntu and OSX)
|
||
|
|
memoryLimit *= 15;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < 50; ++i)
|
||
|
|
{
|
||
|
|
sdf::SDF modelSDF;
|
||
|
|
modelSDF.SetFromString(sdfString);
|
||
|
|
|
||
|
|
int memoryUsage = getMemoryUsage();
|
||
|
|
EXPECT_LT(memoryUsage, memoryLimit);
|
||
|
|
}
|
||
|
|
|
||
|
|
std::cout << " final memory: "
|
||
|
|
<< getMemoryUsage()
|
||
|
|
<< std::endl;
|
||
|
|
}
|