test_urdf.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
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 
00050 int runExternalProcess(const std::string &executable, const std::string &args)
00051 {
00052     return system((executable + " " + args).c_str());
00053 }
00054 
00055 int walker( char *result, int& test_result)
00056 {
00057   DIR           *d;
00058   struct dirent *dir;
00059   d = opendir( "robots" );
00060   if( d == NULL )
00061   {
00062     return 1;
00063   }
00064   while( ( dir = readdir( d ) ) )
00065   {
00066     if( strcmp( dir->d_name, "." ) == 0 || 
00067         strcmp( dir->d_name, ".." ) == 0 )
00068     {
00069       continue;
00070     }
00071     if( dir->d_type != DT_DIR )
00072     {
00073       std::string dir_name = dir->d_name;
00074       if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11)
00075       {
00076         char pwd[MAXPATHLEN];
00077         getcwd( pwd, MAXPATHLEN );
00078         printf("\n\ntesting: %s\n",(std::string(pwd)+"/robots/"+dir_name).c_str());
00079         runExternalProcess("python `rospack find xacro`/xacro.py", std::string(pwd)+"/robots/"+dir_name+" > `rospack find turtlebot_description`/test/tmp.urdf" );
00080         test_result = test_result || runExternalProcess("`rospack find urdf_parser`/bin/check_urdf", "`rospack find turtlebot_description`/test/tmp.urdf");
00081         //break;
00082       }
00083     }
00084   }
00085   closedir( d );
00086   return *result == 0;
00087 }
00088 
00089 TEST(URDF, CorrectFormat)
00090 {
00091   int test_result = 0;
00092 
00093   char buf[MAXPATHLEN] = { 0 };
00094   if( walker( buf, test_result ) == 0 )
00095   {
00096     printf( "Found: %s\n", buf );
00097   }
00098   else
00099   {
00100     puts( "Not found" );
00101   }
00102 
00103   EXPECT_TRUE(test_result == 0);
00104 }
00105 
00106 int main(int argc, char **argv)
00107 {
00108     testing::InitGoogleTest(&argc, argv);
00109     return RUN_ALL_TESTS();
00110 }


turtlebot_description
Author(s): Melonee Wise, Daniel Stonier
autogenerated on Sat Jun 8 2019 19:28:18