test_pluginloader.cpp
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00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <gtest/gtest.h>
00031 #include <ros/package.h>
00032 #include <ros/types.h>
00033 #include <ros/console.h>
00034 
00035 #include <rve_pluginloader/loader.h>
00036 #include <rve_pluginloader/plugin.h>
00037 
00038 #include "shared.h"
00039 
00040 std::string g_package_path;
00041 std::string g_plugin_path;
00042 
00043 using namespace rve_pluginloader;
00044 
00045 TEST(PluginLoader, createClass)
00046 {
00047   Base* b = create<Base>("Base", "Foo");
00048   ASSERT_TRUE(b);
00049   ASSERT_EQ(b->getVal(), 1U);
00050   destroy(b);
00051 }
00052 
00053 TEST(PluginLoader, createClassShared)
00054 {
00055   boost::shared_ptr<Base> b = createShared<Base>("Base", "Foo");
00056   ASSERT_TRUE(b);
00057   ASSERT_EQ(b->getVal(), 1U);
00058 }
00059 
00060 TEST(PluginLoader, outstandingAllocationOnUnload)
00061 {
00062   boost::shared_ptr<Base> b = createShared<Base>("Base", "Foo");
00063   ASSERT_TRUE(b);
00064   PluginPtr plugin = getPlugin(g_plugin_path);
00065   try
00066   {
00067     plugin->unload();
00068   }
00069   catch (OutstandingAllocationException& e)
00070   {
00071     ROS_INFO("%s", e.what());
00072   }
00073 }
00074 
00075 int main(int argc, char** argv)
00076 {
00077   testing::InitGoogleTest(&argc, argv);
00078 
00079   rve_pluginloader::init();
00080 
00081   g_package_path = ros::package::getPath(ROS_PACKAGE_NAME);
00082   g_plugin_path = g_package_path + "/test/test_plugin_desc.yaml";
00083   rve_pluginloader::loadPlugin(g_plugin_path);
00084 
00085   int ret = RUN_ALL_TESTS();
00086 
00087   rve_pluginloader::shutdown();
00088 
00089   return ret;
00090 }
00091 
00092 
00093 


rve_pluginloader
Author(s): Josh Faust
autogenerated on Wed Dec 11 2013 14:31:46