test_pluginloader.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
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <gtest/gtest.h>
#include <ros/package.h>
#include <ros/types.h>
#include <ros/console.h>

#include <rve_pluginloader/loader.h>
#include <rve_pluginloader/plugin.h>

#include "shared.h"

std::string g_package_path;
std::string g_plugin_path;

using namespace rve_pluginloader;

TEST(PluginLoader, createClass)
{
  Base* b = create<Base>("Base", "Foo");
  ASSERT_TRUE(b);
  ASSERT_EQ(b->getVal(), 1U);
  destroy(b);
}

TEST(PluginLoader, createClassShared)
{
  boost::shared_ptr<Base> b = createShared<Base>("Base", "Foo");
  ASSERT_TRUE(b);
  ASSERT_EQ(b->getVal(), 1U);
}

TEST(PluginLoader, outstandingAllocationOnUnload)
{
  boost::shared_ptr<Base> b = createShared<Base>("Base", "Foo");
  ASSERT_TRUE(b);
  PluginPtr plugin = getPlugin(g_plugin_path);
  try
  {
    plugin->unload();
  }
  catch (OutstandingAllocationException& e)
  {
    ROS_INFO("%s", e.what());
  }
}

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

  rve_pluginloader::init();

  g_package_path = ros::package::getPath(ROS_PACKAGE_NAME);
  g_plugin_path = g_package_path + "/test/test_plugin_desc.yaml";
  rve_pluginloader::loadPlugin(g_plugin_path);

  int ret = RUN_ALL_TESTS();

  rve_pluginloader::shutdown();

  return ret;
}