utest.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Brian Gerkey */

#include <stdexcept> // for std::runtime_error
#include <string>
#include <vector>
#include <stdlib.h>
#include <unistd.h>
#include <stdio.h>
#include <time.h>
#include <gtest/gtest.h>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include "rospack/rospack.h"
#include "utils.h"


TEST(rospack, reentrant)
{
  rospack::ROSPack rp;
  std::string output;
  int ret = rp.run(std::string("plugins --attrib=foo --top=precedence1 roslang"));
  ASSERT_EQ(ret, 0);
  ret = rp.run(std::string("find roslang"));
  ASSERT_EQ(ret, 0);
  ret = rp.run(std::string("list-names"));
  ASSERT_EQ(ret, 0);
  std::vector<std::string> output_list;
  output = rp.getOutput();
  boost::trim(output);
  boost::split(output_list, output, boost::is_any_of("\n"));
  ASSERT_EQ((int)output_list.size(), 4);
  ret = rp.run(std::string("list"));
  ASSERT_EQ(ret, 0);
  output = rp.getOutput(); 
  boost::trim(output);
  boost::split(output_list, output, boost::is_any_of("\n"));
  ASSERT_EQ((int)output_list.size(), 4);
  std::vector<std::string> path_name;
  boost::split(path_name, output_list[0], boost::is_any_of(" "));
  ASSERT_EQ((int)path_name.size(), 2);
}

TEST(rospack, multiple_rospack_objects)
{
  rospack::ROSPack rp;
  std::string output;
  int ret = rp.run(std::string("plugins --attrib=foo --top=precedence1 roslang"));
  ASSERT_EQ(ret, 0);
  ret = rp.run(std::string("find roslang"));
  ASSERT_EQ(ret, 0);
  ret = rp.run(std::string("list-names"));
  ASSERT_EQ(ret, 0);
  std::vector<std::string> output_list;
  output = rp.getOutput(); 
  boost::trim(output);
  boost::split(output_list, output, boost::is_any_of("\n"));
  ASSERT_EQ((int)output_list.size(), 4);
  ret = rp.run(std::string("list"));
  ASSERT_EQ(ret, 0);
  output = rp.getOutput(); 
  boost::trim(output);
  boost::split(output_list, output, boost::is_any_of("\n"));
  ASSERT_EQ((int)output_list.size(), 4);
  std::vector<std::string> path_name;
  boost::split(path_name, output_list[0], boost::is_any_of(" "));
  ASSERT_EQ((int)path_name.size(), 2);

  rospack::ROSPack rp2;
  ret = rp2.run(std::string("plugins --attrib=foo --top=precedence1 roslang"));
  ASSERT_EQ(ret, 0);
  ret = rp2.run(std::string("find roslang"));
  ASSERT_EQ(ret, 0);
  ret = rp2.run(std::string("list-names"));
  ASSERT_EQ(ret, 0);
  output_list.clear();
  output = rp2.getOutput(); 
  boost::trim(output);
  boost::split(output_list, output, boost::is_any_of("\n"));
  ASSERT_EQ((int)output_list.size(), 4);
  ret = rp2.run(std::string("list"));
  ASSERT_EQ(ret, 0);
  output = rp2.getOutput(); 
  boost::trim(output);
  boost::split(output_list, output, boost::is_any_of("\n"));
  ASSERT_EQ((int)output_list.size(), 4);
  path_name.clear();
  boost::split(path_name, output_list[0], boost::is_any_of(" "));
  ASSERT_EQ((int)path_name.size(), 2);
}

TEST(rospack, deduplicate_tokens)
{
  std::string input = "foo foo bar bat bar foobar batbar";
  std::string truth = "foo bar bat foobar batbar";
  std::string output;
  rospack::deduplicate_tokens(input, false, output);
  ASSERT_EQ(truth, output);
}

int main(int argc, char **argv)
{
  // Quiet some warnings
  (void)rospack::ROSPACK_NAME;
  (void)rospack::ROSSTACK_NAME;

  char buf[1024];
  std::string rr = std::string(getcwd(buf, sizeof(buf))) + "/test2";
  setenv("ROS_ROOT", rr.c_str(), 1);
  unsetenv("ROS_PACKAGE_PATH");
  char path[PATH_MAX];
  if(getcwd(path,sizeof(path)))
  {
    boost::filesystem::path p(path);
    p = p.parent_path();
    std::string newpath = p.string();
    char* oldpath = getenv("PATH");
    if(oldpath)
      newpath += std::string(":") + oldpath;
    setenv("PATH", newpath.c_str(), 1);
  }

  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}