test_urdf.cpp
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00034 
00037 #include <gtest/gtest.h>
00038 #include <cstdlib>
00039 
00040 #include <dirent.h> 
00041 #include <sys/types.h> 
00042 #include <sys/param.h> 
00043 #include <sys/stat.h> 
00044 #include <unistd.h> 
00045 #include <stdio.h> 
00046 #include <string.h> 
00047 
00048 #include <iostream>
00049 #include <fstream>
00050 
00051 #include <urdf_parser/urdf_parser.h>
00052 #include <boost/function.hpp>
00053 #include <urdf_model/model.h>
00054 
00055 int runExternalProcess(const std::string &executable, const std::string &args)
00056 {
00057     return system((executable + " " + args).c_str());
00058 }
00059 
00060 int walker( std::string & result, int& test_result)
00061 {
00062   DIR           *d;
00063   struct dirent *dir;
00064   d = opendir( "robots" );
00065   if( d == NULL )
00066   {
00067     return 1;
00068   }
00069   while( ( dir = readdir( d ) ) )
00070   {
00071     if( strcmp( dir->d_name, "." ) == 0 || 
00072         strcmp( dir->d_name, ".." ) == 0 )
00073     {
00074       continue;
00075     }
00076     if( dir->d_type != DT_DIR )
00077     {
00078       std::string dir_name = dir->d_name;
00079       if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11)
00080       {
00081         char pwd[MAXPATHLEN];
00082         getcwd( pwd, MAXPATHLEN );
00083         std::string name = std::string(pwd)+"/robots/"+dir_name;
00084         printf("\n\ntesting: %s\n",name.c_str());
00085         result += name;
00086         result += " ";
00087 
00088         runExternalProcess("python `rospack find xacro`/xacro.py", name+" > `rospack find pr2_description`/test/tmp.urdf" );
00089 
00090         std::string path = std::string(pwd)+"/test/tmp.urdf";
00091 
00092 
00093         std::string xml_string;
00094         std::fstream xml_file(path.c_str(), std::fstream::in);
00095         while ( xml_file.good() )
00096         {
00097             std::string line;
00098             std::getline( xml_file, line);
00099             xml_string += (line + "\n");
00100         }
00101         xml_file.close();
00102 
00103         boost::shared_ptr<urdf::ModelInterface> robot = urdf::parseURDF(xml_string);
00104         if (!robot) test_result = test_result || 1;
00105 
00106       }
00107     }
00108   }
00109   closedir( d );
00110   return test_result;
00111 }
00112 
00113 TEST(URDF, CorrectFormat)
00114 {
00115   int test_result = 0;
00116 
00117   std::string result;
00118   if( walker( result, test_result ) == 0 )
00119   {
00120     printf( "Found: %s\n", result.c_str() );
00121   }
00122   else
00123   {
00124     puts( "Not found" );
00125     test_result = -1;
00126   }
00127 
00128   EXPECT_TRUE(test_result == 0);
00129 }
00130 
00131 int main(int argc, char **argv)
00132 {
00133     testing::InitGoogleTest(&argc, argv);
00134     return RUN_ALL_TESTS();
00135 }


pr2_description
Author(s): John Hsu, Eric Berger, Austin Hendrix
autogenerated on Fri Aug 28 2015 12:06:45