test_sr_description_urdf.cpp

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#include <gtest/gtest.h>
#include <cstdlib>

#include <dirent.h>
#include <sys/types.h>
#include <sys/param.h>
#include <sys/stat.h>
#include <unistd.h>
#include <stdio.h>
#include <string>

#include <iostream>

int runExternalProcess(const std::string &executable, const std::string &args)
{
  return system((executable + " " + args).c_str());
}

std::string getCommandOutput(std::string cmd)
{
  std::string data;
  FILE * stream;

  stream = popen(cmd.c_str(), "r");
  if (stream)
  {
    char buffer[MAXPATHLEN];
    while (!feof(stream))
      if (fgets(buffer, MAXPATHLEN, stream) != NULL) data.append(buffer);
    pclose(stream);
  }
  // keep anything before first cr/lf
  unsigned pos = data.find_first_of('\n');
  return data.substr(0, pos);
}

int walker(char *result, int *test_result)
{
  std::string package_path =  getCommandOutput("rospack find sr_description");

  if (package_path.find("sr_description") == std::string::npos)
  {
    printf("cannot find package in path %s\n", package_path.c_str());
    *test_result = 1;
    return 1;
  }
  else
  {
    printf("sr_description robots path : %s\n", (package_path+"/robots").c_str());
  }

  DIR           *d;
  struct dirent *dir;
  d = opendir((package_path+"/robots").c_str());
  if (d == NULL)
  {
    printf("no robots found\n");
    *test_result = 1;
    return 1;
  }
  while ((dir = readdir(d)))
  {
    if (strcmp(dir->d_name, ".") == 0 ||
        strcmp(dir->d_name, "..") == 0)
    {
      continue;
    }
    if (dir->d_type != DT_DIR)
    {
      std::string dir_name = dir->d_name;
      if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11)
      {
        printf("\n\ntesting: %s\n", (package_path+"/robots/"+dir_name).c_str());
        printf("xacro --inorder %s/robots/%s  > "
               "`rospack find sr_description`/test/tmp.urdf",
               package_path.c_str(), dir_name.c_str() );
        runExternalProcess("xacro --inorder",
                           package_path+"/robots/"+dir_name+" > `rospack find sr_description`/test/tmp.urdf");
        // check urdf structure
        *test_result = *test_result || runExternalProcess("check_urdf", "`rospack find sr_description`/test/tmp.urdf");
        printf("\n looking for unexpanded xacro tags\n");
        // check for unexpanded xacros
        *test_result = *test_result ||
                       !runExternalProcess("grep", "'<xacro:' `rospack find sr_description`/test/tmp.urdf");
      }
      if (*test_result != 0)
        return *result == 0;
    }
  }
  closedir(d);
  return *result == 0;
}

TEST(URDF, CorrectFormat)
{
  int test_result = 0;

  char buf[MAXPATHLEN] = { 0 };
  if (walker(buf, &test_result) == 0)
  {
    printf("Found: %s\n", buf);
  }
  else
  {
    puts("Not found");
  }

  EXPECT_EQ(test_result, 0);
}

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}