rostest_main.cpp

Go to the documentation of this file.

#define CATCH_CONFIG_RUNNER
#include <catch_ros/catch.hpp>

#include "ros_junit_reporter.h"

#include <boost/filesystem.hpp>

#include <ros/init.h>
#include <ros/node_handle.h>
#include <ros/this_node.h>

namespace fs = boost::filesystem;

int main( int argc, char** argv )
{
        ros::init(argc, argv, "catch_test");
        ros::NodeHandle nh("~");

        Catch::Session session;

        // writing to session.configData() here sets defaults
        // this is the preferred way to set them

        // Parse gtest-style output options
        std::string test_output;
        for(int i = 1; i < argc; ++i)
        {
                if(strncmp(argv[i], "--gtest_output=xml:", 19) == 0)
                {
                        test_output = argv[i] + 19;

                        // Remove this option from argc, argv
                        int j;
                        for(j = i; j < argc-1; ++j)
                                argv[j] = argv[j+1];
                        argc -= 1;

                        // Re-check the next argument, since rostest will *add* a
                        // --gtest_output argument on each retry.
                        // https://github.com/ros/ros_comm/blob/d9059f49d14b7baf4a58c7759deab1f019681f5b/tools/rostest/src/rostest/runner.py#L137
                        i -= 1;
                }
        }

        if(!test_output.empty())
        {
                session.configData().reporterName = "ros_junit";
                session.configData().outputFilename = test_output;
        }

        int returnCode = session.applyCommandLine( argc, argv );
        if( returnCode != 0 ) // Indicates a command line error
                return returnCode;

        std::string nodeName = ros::this_node::getName();
        std::replace(nodeName.begin(), nodeName.end(), '/', '_');
        session.configData().name = session.configData().processName + nodeName;

        // The catkin scripts calling tests do not create the output directory for
        // us :-(
        if(!session.configData().outputFilename.empty())
        {
                fs::path outputPath = session.configData().outputFilename;

                fs::path outputDir = outputPath.parent_path();
                if(!fs::exists(outputDir))
                {
                        fs::create_directories(outputDir);
                }
        }

        return session.run();
}