TokenMapLoader_Test.cpp

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#include <iostream>
#include <gtest/gtest.h>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include <boost/lexical_cast.hpp>
#include "robot_instance/RobotInstanceFactory.h"
#include "robot_instance/TokenMapLoader.h"
#include <ros/package.h>

using namespace std;

class TokenMapLoaderTest : public ::testing::Test
{
protected:
    virtual void SetUp()
    {
        packagePath      = ros::package::getPath("robot_instance");
        configPath       = packagePath + "/test/config";
        configSafetyPath = packagePath + "/test/configSafety";
        fileName         = "TestRobotInstance.xml";
        instance         = RobotInstanceFactory::createRobotInstanceFromFile(configPath, configSafetyPath, fileName);

        tokenMap = boost::make_shared<TokenMap>();
    }

    virtual void TearDown()
    {
    }

    string packagePath, configPath, configSafetyPath, fileName;
    RobotInstancePtr instance;
    TokenMapPtr tokenMap;
};

TEST_F(TokenMapLoaderTest, LoadElements)
{
    string s;

    TokenMapLoader::loadElements(instance, tokenMap);

    // Normal assertions to check good data
    std::vector<std::string> names;

    for (TokenMap::iterator it = tokenMap->begin(); it != tokenMap->end(); ++it)
    {
        names.push_back(it->first);
    }

    EXPECT_EQ(7782, names.size()); // (862 node tokens * 9 nodes)+24 master tokens
    sort(names.begin(), names.end()); // The underlying map can be in any order; sort to make sure

    EXPECT_STREQ("/body/pdmc/0x00", names[0].c_str());
    EXPECT_EQ(0x00, tokenMap->operator[](names[0]));

    EXPECT_STREQ("/body/pdmc/0x01", names[1].c_str());
    EXPECT_EQ(0x01, tokenMap->operator[](names[1]));

    // skip the middle...

    EXPECT_STREQ("right_arm", names[7780].c_str());
    EXPECT_EQ(0x00, tokenMap->operator[](names[7780]));

    EXPECT_STREQ("right_leg", names[7781].c_str());
    EXPECT_EQ(0x01, tokenMap->operator[](names[7781]));
}

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