utest.cpp

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#include <pluginlib/class_loader.h>
#include "test_base.h"
#include <gtest/gtest.h>

TEST(PluginlibTest, unknownPlugin)
{
  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
  test_base::Fubar* foo = NULL;
  
  try
  {
    foo = test_loader.createClassInstance("pluginlib/foobar");
    foo->initialize(10.0);
  }
  catch(pluginlib::LibraryLoadException& ex)
  {
    SUCCEED();
    return;
  }
  catch(...)
  {
    FAIL() << "Uncaught exception";
  }
  ADD_FAILURE() << "Didn't throw exception as expected";
 
}


TEST(PluginlibTest, misspelledPlugin)
{
  pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib", "test_base::Fuba");
  test_base::Fubar* foo = NULL;
  
  try
  {
    foo = bad_test_loader.createClassInstance("pluginlib/foo");
    foo->initialize(10.0);
  }
  catch(pluginlib::LibraryLoadException& ex)
  {
    SUCCEED();
    return;
  }
  catch(...)
  {
    FAIL() << "Uncaught exception";
  }
  ADD_FAILURE() << "Didn't throw exception as expected";
 
}

TEST(PluginlibTest, invalidPackage)
{  
  try
  {
    pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib_bad", "test_base::Fubar");
  }
  catch(pluginlib::LibraryLoadException& ex)
  {
    SUCCEED();
    return;
  }
  catch(...)
  {
    FAIL() << "Uncaught exception";
  }
  ADD_FAILURE() << "Didn't throw exception as expected";
 
}

TEST(PluginlibTest, brokenPlugin)
{
  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
  test_base::Fubar* none = NULL;

  try
  {
    none = test_loader.createClassInstance("pluginlib/none");
    none->initialize(10.0);
  }
  catch(pluginlib::PluginlibException& ex)
  {
    SUCCEED();
    return;
  }
  catch(...)
  {
    FAIL() << "Uncaught exception";
  }
  ADD_FAILURE() << "Didn't throw exception as expected";
 
}

TEST(PluginlibTest, workingPlugin)
{
  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
  test_base::Fubar* foo = NULL;
  
  try
  {
    foo = test_loader.createClassInstance("pluginlib/foo");
    foo->initialize(10.0);
    EXPECT_EQ(foo->result(),100.0);

  }
  catch(pluginlib::PluginlibException& ex)
  {
    FAIL() << "Throwing exception";
    return;
  }
  catch(...)
  {
    FAIL() << "Uncaught exception";
  }
}

// Run all the tests that were declared with TEST()
int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}