test_dynlib.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include <gtest/gtest.h>
#include <ros/package.h>
#include <ros/types.h>

#include <rve_dynlib/dynlib.h>

std::string g_package_path;

TEST(DynLib, loadUnload)
{
  try
  {
    rve_dynlib::Handle h = rve_dynlib::load(g_package_path + "/lib/" + std::string(rve_dynlib::prefix()) + "test_library" + std::string(rve_dynlib::suffix()));
    rve_dynlib::unload(h);
  }
  catch(rve_dynlib::LibraryLoadException&)
  {
    FAIL();
  }
}

TEST(DynLib, failLoad)
{
  try
  {
    rve_dynlib::load("some_random_library.so");
    FAIL();
  }
  catch(rve_dynlib::LibraryLoadException&)
  {
    SUCCEED();
  }
}

TEST(DynLib, getSymbol)
{
  try
  {
    rve_dynlib::Handle h = rve_dynlib::load(g_package_path + "/lib/" + std::string(rve_dynlib::prefix()) + "test_library" + std::string(rve_dynlib::suffix()));

    void* sym = rve_dynlib::getSymbol(h, "doubleEntryPoint");

    ASSERT_TRUE(sym);

    uint32_t (*fp)(uint32_t) = (uint32_t (*)(uint32_t))sym;
    uint32_t doubled = (*fp)(5);
    EXPECT_EQ(doubled, 10U);

    sym = rve_dynlib::getSymbol(h, "invalidEntryPoint");
    EXPECT_FALSE(sym);

    rve_dynlib::unload(h);
  }
  catch(rve_dynlib::LibraryLoadException&)
  {
    FAIL();
  }
}

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

  g_package_path = ros::package::getPath(ROS_PACKAGE_NAME);

  return RUN_ALL_TESTS();
}