test_urdf.cpp

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#include <gtest/gtest.h>
#include <cstdlib>

#include <dirent.h> 
#include <sys/types.h> 
#include <sys/param.h> 
#include <sys/stat.h> 
#include <unistd.h> 
#include <stdio.h> 
#include <string.h> 

#include <iostream>

int runExternalProcess(const std::string &executable, const std::string &args)
{
    return system((executable + " " + args).c_str());
}

int walker(std::string dir_str, char *result, int& test_result)
{
  DIR           *d;
  struct dirent *dir;
  d = opendir( dir_str.c_str() );
  if( d == NULL )
  {
    return 1;
  }
  while( ( dir = readdir( d ) ) )
  {
    if( strcmp( dir->d_name, "." ) == 0 || 
        strcmp( dir->d_name, ".." ) == 0 )
    {
      continue;
    }
    if( dir->d_type != DT_DIR )
    {
      std::string dir_name = dir->d_name;
      if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11)
      {
        char pwd[MAXPATHLEN];
        getcwd( pwd, MAXPATHLEN );
        printf("\n\ntesting: %s\n",(std::string(pwd) + "/" + dir_str + "/" + dir_name).c_str());
        runExternalProcess("python `rospack find xacro`/xacro.py", std::string(pwd) + "/" + dir_str + "/" + dir_name + " > `rospack find pr2_component_descriptions`/test/tmp.urdf" );
        test_result = test_result || runExternalProcess("`rospack find urdf_parser`/bin/check_urdf", "`rospack find pr2_component_descriptions`/test/tmp.urdf");
      }
    }
  }
  closedir( d );
  return *result == 0;
}

TEST(URDF, CheckRobots)
{
  int test_result = 0;

  char buf[MAXPATHLEN] = { 0 };
  if( walker("robots", buf, test_result ) == 0 )
  {
    printf( "Found: %s\n", buf );
  }
  else
  {
    puts( "Not found" );
  }

  EXPECT_TRUE(test_result == 0);
}

TEST(URDF, CheckRobotMotors)
{
  int test_result = 0;

  char buf[MAXPATHLEN] = { 0 };
  if( walker("robot_motors", buf, test_result ) == 0 )
  {
    printf( "Found: %s\n", buf );
  }
  else
  {
    puts( "Not found" );
  }

  EXPECT_TRUE(test_result == 0);
}

int main(int argc, char **argv)
{
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
}