unique_ptr_test.cpp
Go to the documentation of this file.
00001 #include <pluginlib/class_loader.h>
00002 #include "test_base.h"
00003 #include <gtest/gtest.h>
00004 
00005 TEST(PluginlibUniquePtrTest, unknownPlugin)
00006 {
00007   pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
00008   ASSERT_THROW(test_loader.createUniqueInstance("pluginlib/foobar"), pluginlib::LibraryLoadException);
00009 }
00010 
00011 
00012 TEST(PluginlibUniquePtrTest, misspelledPlugin)
00013 {
00014   pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib", "test_base::Fuba");
00015   ASSERT_THROW(bad_test_loader.createUniqueInstance("pluginlib/foo"), pluginlib::LibraryLoadException);
00016 }
00017 
00018 TEST(PluginlibTest, brokenPlugin)
00019 {
00020   pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
00021   ASSERT_THROW(test_loader.createUniqueInstance("pluginlib/none"), pluginlib::PluginlibException);
00022 }
00023 
00024 TEST(PluginlibUniquePtrTest, workingPlugin)
00025 {
00026   pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
00027 
00028   try
00029   {
00030     pluginlib::UniquePtr<test_base::Fubar> foo = test_loader.createUniqueInstance("pluginlib/foo");
00031     foo->initialize(10.0);
00032     EXPECT_EQ(foo->result(),100.0);
00033   }
00034   catch(pluginlib::PluginlibException& ex)
00035   {
00036     FAIL() << "Throwing exception: " << ex.what();
00037     return;
00038   }
00039   catch(...)
00040   {
00041     FAIL() << "Uncaught exception";
00042   }
00043 }
00044 
00045 TEST(PluginlibUniquePtrTest, createUniqueInstanceAndUnloadLibrary)
00046 {
00047   ROS_INFO( "Making the ClassLoader..." );
00048   pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
00049 
00050   ROS_INFO( "Instantiating plugin..." );
00051   {
00052    pluginlib::UniquePtr<test_base::Fubar> inst = pl.createUniqueInstance("pluginlib/foo");
00053   }
00054 
00055   ROS_INFO( "Checking if plugin is loaded with isClassLoaded..." );
00056   if( pl.isClassLoaded( "pluginlib/foo" ) )
00057     ROS_INFO( "Class is loaded" );
00058   else
00059   {
00060     FAIL() <<  "Library containing class should be loaded but isn't.";
00061   }
00062 
00063   ROS_INFO( "Trying to unload class with unloadLibraryForClass..." );
00064   try
00065   {
00066     pl.unloadLibraryForClass("pluginlib/foo");
00067   }
00068   catch(pluginlib::PluginlibException& e)
00069   {
00070     FAIL() << "Could not unload library when I should be able to.";
00071   }
00072   ROS_INFO( "Done." );
00073 }
00074 
00075 // Run all the tests that were declared with TEST()
00076 int main(int argc, char **argv){
00077   testing::InitGoogleTest(&argc, argv);
00078   return RUN_ALL_TESTS();
00079 }
00080 
00081 


pluginlib
Author(s): Eitan Marder-Eppstein, Tully Foote, Dirk Thomas, Mirza Shah
autogenerated on Sat Jun 8 2019 19:57:36