utest.cpp
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00001 /*
00002  * Copyright (c) 2008, 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 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 /* Author: Brian Gerkey */
00031 
00032 #include <string>
00033 #include <vector>
00034 #include <stdlib.h>
00035 #include <unistd.h>
00036 #include <boost/thread.hpp>
00037 #include <gtest/gtest.h>
00038 #include "ros/package.h"
00039 
00040 void string_split(const std::string &s, std::vector<std::string> &t, const std::string &d)
00041 {                                                                                 t.clear();
00042   size_t start = 0, end;
00043   while ((end = s.find_first_of(d, start)) != std::string::npos)
00044   {     
00045     if((end-start) > 0)
00046       t.push_back(s.substr(start, end-start));
00047     start = end + 1;
00048   }   
00049   if(start < s.size())
00050     t.push_back(s.substr(start));
00051 }
00052 
00053 char g_rr_buf[1024];
00054 void set_env_vars(void)
00055 {
00056   // Point ROS_PACKAGE_PATH at the roslib directory, and point
00057   // ROS_ROOT into an empty directory.
00058   getcwd(g_rr_buf, sizeof(g_rr_buf));
00059   setenv("ROS_PACKAGE_PATH", g_rr_buf, 1);
00060   strncpy(g_rr_buf+strlen(g_rr_buf), "/tmp.XXXXXX", sizeof(g_rr_buf)-strlen(g_rr_buf)-1);
00061   g_rr_buf[sizeof(g_rr_buf)-1] = '\0';
00062   mkdtemp(g_rr_buf);
00063   setenv("ROS_ROOT", g_rr_buf, 1);
00064 }
00065 void cleanup_env_vars(void)
00066 {
00067   // Remove the empty directory that we created in set_env_vars().
00068   rmdir(g_rr_buf);
00069   memset(g_rr_buf, 0, sizeof(g_rr_buf));
00070 }
00071 
00072 TEST(roslib, commandListNames)
00073 {
00074   set_env_vars();
00075 
00076   std::string output = ros::package::command("list-names");
00077   std::vector<std::string> output_list;
00078   string_split(output, output_list, "\n");
00079   ASSERT_EQ((int)output_list.size(), 1);
00080   ASSERT_STREQ(output_list[0].c_str(), "roslib");
00081 
00082   cleanup_env_vars();
00083 }
00084 
00085 TEST(roslib, commandList)
00086 {
00087   set_env_vars();
00088 
00089   std::string output = ros::package::command("list");
00090   std::vector<std::string> output_list;
00091   std::vector<std::string> name_path;
00092   string_split(output, output_list, "\n");
00093   ASSERT_EQ((int)output_list.size(), 1);
00094   string_split(output_list[0], name_path, " ");
00095   ASSERT_EQ((int)name_path.size(), 2);
00096   ASSERT_STREQ(name_path[0].c_str(), "roslib");
00097 
00098   cleanup_env_vars();
00099 }
00100 
00101 TEST(roslib, getAll)
00102 {
00103   set_env_vars();
00104 
00105   std::vector<std::string> output_list;
00106   ASSERT_TRUE(ros::package::getAll(output_list));
00107   ASSERT_EQ((int)output_list.size(), 1);
00108   ASSERT_STREQ(output_list[0].c_str(), "roslib");
00109 
00110   cleanup_env_vars();
00111 }
00112 
00113 void
00114 roslib_caller()
00115 {
00116   struct timespec ts = {0, 100000};
00117   std::string output;
00118   for(int i=0;i<100;i++)
00119   {
00120     output = ros::package::command("plugins --attrib=foo roslib");
00121     nanosleep(&ts, NULL);
00122   }
00123 }
00124 
00125 TEST(roslib, concurrent_access)
00126 {
00127   set_env_vars();
00128   const int size = 10;
00129   boost::thread t[size];
00130   for(int i=0;i<size; i++)
00131     t[i] = boost::thread(boost::bind(roslib_caller));
00132   for(int i=0;i<size; i++)
00133     t[i].join();
00134   cleanup_env_vars();
00135 }
00136 
00137 int main(int argc, char **argv)
00138 {
00139   testing::InitGoogleTest(&argc, argv);
00140   return RUN_ALL_TESTS();
00141 }
00142 


roslib
Author(s): Ken Conley , Morgan Quigley , Josh Faust
autogenerated on Thu Aug 27 2015 14:46:40