utest.cpp
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00001 #include <pluginlib/class_loader.h>
00002 #include "test_base.h"
00003 #include <gtest/gtest.h>
00004 
00005 TEST(PluginlibTest, unknownPlugin)
00006 {
00007   pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
00008   test_base::Fubar* foo = NULL;
00009   
00010   try
00011   {
00012     foo = test_loader.createClassInstance("pluginlib/foobar");
00013     foo->initialize(10.0);
00014   }
00015   catch(pluginlib::LibraryLoadException& ex)
00016   {
00017     SUCCEED();
00018     return;
00019   }
00020   catch(...)
00021   {
00022     FAIL() << "Uncaught exception";
00023   }
00024   ADD_FAILURE() << "Didn't throw exception as expected";
00025  
00026 }
00027 
00028 
00029 TEST(PluginlibTest, misspelledPlugin)
00030 {
00031   pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib", "test_base::Fuba");
00032   test_base::Fubar* foo = NULL;
00033   
00034   try
00035   {
00036     foo = bad_test_loader.createClassInstance("pluginlib/foo");
00037     foo->initialize(10.0);
00038   }
00039   catch(pluginlib::LibraryLoadException& ex)
00040   {
00041     SUCCEED();
00042     return;
00043   }
00044   catch(...)
00045   {
00046     FAIL() << "Uncaught exception";
00047   }
00048   ADD_FAILURE() << "Didn't throw exception as expected";
00049  
00050 }
00051 
00052 TEST(PluginlibTest, invalidPackage)
00053 {  
00054   try
00055   {
00056     pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib_bad", "test_base::Fubar");
00057   }
00058   catch(pluginlib::LibraryLoadException& ex)
00059   {
00060     SUCCEED();
00061     return;
00062   }
00063   catch(...)
00064   {
00065     FAIL() << "Uncaught exception";
00066   }
00067   ADD_FAILURE() << "Didn't throw exception as expected";
00068  
00069 }
00070 
00071 TEST(PluginlibTest, brokenPlugin)
00072 {
00073   pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
00074   test_base::Fubar* none = NULL;
00075 
00076   try
00077   {
00078     none = test_loader.createClassInstance("pluginlib/none");
00079     none->initialize(10.0);
00080   }
00081   catch(pluginlib::PluginlibException& ex)
00082   {
00083     SUCCEED();
00084     return;
00085   }
00086   catch(class_loader::ClassLoaderException& ex)
00087   {
00088     FAIL() << "class_loader exception instead of pluginlib, argh. " << ex.what() << "\n";
00089   }
00090   catch(...)
00091   {
00092     FAIL() << "Uncaught exception";
00093   }
00094   ADD_FAILURE() << "Didn't throw exception as expected";
00095  
00096 }
00097 
00098 TEST(PluginlibTest, workingPlugin)
00099 {
00100   pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
00101   test_base::Fubar* foo = NULL;
00102   
00103   try
00104   {
00105     foo = test_loader.createClassInstance("pluginlib/foo");
00106     foo->initialize(10.0);
00107     EXPECT_EQ(foo->result(),100.0);
00108 
00109   }
00110   catch(pluginlib::PluginlibException& ex)
00111   {
00112     FAIL() << "Throwing exception: " << ex.what();
00113     return;
00114   }
00115   catch(...)
00116   {
00117     FAIL() << "Uncaught exception";
00118   }
00119 }
00120 
00121 TEST(PluginlibTest, createUnmanagedInstanceAndUnloadLibrary)
00122 {
00123   ROS_INFO( "Making the ClassLoader..." );
00124   pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
00125 
00126   ROS_INFO( "Instantiating plugin..." );
00127   test_base::Fubar *inst = pl.createUnmanagedInstance("pluginlib/foo");
00128 
00129   ROS_INFO( "Deleting plugin..." );
00130   delete inst;
00131 
00132   ROS_INFO( "Checking if plugin is loaded with isClassLoaded..." );
00133   if( pl.isClassLoaded( "pluginlib/foo" ) )
00134     ROS_INFO( "Class is loaded" );
00135   else
00136   {
00137     FAIL() <<  "Library containing class should be loaded but isn't.";
00138   }
00139   ROS_INFO( "Trying to unload class with unloadLibraryForClass..." );
00140   try
00141   {
00142     pl.unloadLibraryForClass("pluginlib/foo");
00143   }
00144   catch(pluginlib::PluginlibException& e)
00145   {
00146     FAIL() << "Could not unload library when I should be able to.";
00147   }
00148   ROS_INFO( "Done." );
00149 }
00150 
00151 TEST(PluginlibTest, createManagedInstanceAndUnloadLibrary)
00152 {
00153   ROS_INFO( "Making the ClassLoader..." );
00154   pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
00155 
00156   ROS_INFO( "Instantiating plugin..." );
00157   {
00158     boost::shared_ptr<test_base::Fubar> inst = pl.createInstance("pluginlib/foo");
00159   }
00160 
00161   ROS_INFO( "Checking if plugin is loaded with isClassLoaded..." );
00162   if( pl.isClassLoaded( "pluginlib/foo" ) )
00163     ROS_INFO( "Class is loaded" );
00164   else
00165   {
00166     FAIL() <<  "Library containing class should be loaded but isn't.";
00167   }
00168   
00169   ROS_INFO( "Trying to unload class with unloadLibraryForClass..." );
00170   try
00171   {
00172     pl.unloadLibraryForClass("pluginlib/foo");
00173   }
00174   catch(pluginlib::PluginlibException& e)
00175   {
00176     FAIL() << "Could not unload library when I should be able to.";
00177   }
00178   ROS_INFO( "Done." );
00179 }
00180 
00181 // Run all the tests that were declared with TEST()
00182 int main(int argc, char **argv){
00183   testing::InitGoogleTest(&argc, argv);
00184   return RUN_ALL_TESTS();
00185 }
00186 
00187 


pluginlib
Author(s): Eitan Marder-Eppstein, Tully Foote, Dirk Thomas, Mirza Shah
autogenerated on Wed Aug 26 2015 15:28:48