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test
typekit_scripting_test.cpp
Go to the documentation of this file.
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#include <gtest/gtest.h>
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#include <
rtt/os/main.h
>
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#include <
rtt/plugin/PluginLoader.hpp
>
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#include <
rtt/scripting/ScriptingService.hpp
>
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#include <
rtt/TaskContext.hpp
>
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void
throw_function
() {
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throw
std::exception();
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}
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class
KDLPluginScriptingTest
:
public
testing::Test {
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protected
:
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KDLPluginScriptingTest
():
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tc
(
"test"
)
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{
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}
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virtual
void
SetUp
() {
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ASSERT_TRUE(
RTT::plugin::PluginLoader::Instance
()->loadTypekit(
"kdl_typekit"
,
RTT::plugin::PluginLoader::Instance
()->getPluginPath())) <<
"Failed to load kdl typekit"
;
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ASSERT_TRUE(
tc
.
loadService
(
"scripting"
)) <<
"Unable to load scripting service"
;
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scripting
= boost::dynamic_pointer_cast<
RTT::scripting::ScriptingService
>(
tc
.
provides
()->getService(
"scripting"
) );
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ASSERT_TRUE(scripting.get()) <<
"Failed to get loaded scripting service"
;
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tc
.
addOperation
(
"throw"
,&
throw_function
);
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tc
.
setPeriod
(0.01);
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ASSERT_TRUE(scripting->loadPrograms(
"./typekit-test.ops"
,
false
)) <<
"Failed to load test program"
;
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ASSERT_TRUE(
tc
.
start
()) <<
"Failed to start TaskContext"
;
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}
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virtual
void
TearDown
() {
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}
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RTT::TaskContext
tc
;
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RTT::scripting::ScriptingService::shared_ptr
scripting
;
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};
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TEST_F
(
KDLPluginScriptingTest
, ScriptTest) {
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std::vector<std::string> programs =
scripting
->getProgramList();
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for
(std::vector<std::string>::const_iterator it = programs.begin(); it != programs.end(); ++it) {
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RTT::scripting::ProgramInterfacePtr
program =
scripting
->getProgram(*it);
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ASSERT_TRUE(program.get()) <<
"Failed to get program "
<< *it;
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ASSERT_TRUE(program->start());
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while
(program->isRunning()) {
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ASSERT_FALSE(program->inError()) <<
"Program "
<< *it <<
" failed on line "
<< program->getLineNumber();
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usleep
(1000);
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}
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ASSERT_FALSE(program->inError()) <<
"Program "
<< *it <<
" failed on line "
<< program->getLineNumber();
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}
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}
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int
ORO_main
(
int
argc,
char
**argv){
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testing::InitGoogleTest(&argc,argv);
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return
RUN_ALL_TESTS();
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}
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PluginLoader.hpp
RTT::scripting::ScriptingService::shared_ptr
boost::shared_ptr< ScriptingService > shared_ptr
KDLPluginScriptingTest::KDLPluginScriptingTest
KDLPluginScriptingTest()
Definition:
typekit_scripting_test.cpp:15
KDLPluginScriptingTest::tc
RTT::TaskContext tc
Definition:
typekit_scripting_test.cpp:34
KDLPluginScriptingTest::SetUp
virtual void SetUp()
Definition:
typekit_scripting_test.cpp:20
RTT::TaskContext::provides
Service::shared_ptr provides()
KDLPluginScriptingTest::TearDown
virtual void TearDown()
Definition:
typekit_scripting_test.cpp:31
throw_function
void throw_function()
Definition:
typekit_scripting_test.cpp:8
RTT::TaskContext::loadService
bool loadService(const std::string &service_name)
ScriptingService.hpp
usleep
int usleep(unsigned int us)
RTT::scripting::ProgramInterfacePtr
boost::shared_ptr< ProgramInterface > ProgramInterfacePtr
main.h
KDLPluginScriptingTest::scripting
RTT::scripting::ScriptingService::shared_ptr scripting
Definition:
typekit_scripting_test.cpp:35
ORO_main
int ORO_main(int argc, char **argv)
Definition:
typekit_scripting_test.cpp:53
TaskContext.hpp
RTT::TaskContext
RTT::plugin::PluginLoader::Instance
static boost::shared_ptr< PluginLoader > Instance()
KDLPluginScriptingTest
Definition:
typekit_scripting_test.cpp:12
TEST_F
TEST_F(KDLPluginScriptingTest, ScriptTest)
Definition:
typekit_scripting_test.cpp:38
RTT::scripting::ScriptingService
RTT::TaskContext::addOperation
Operation< Signature > & addOperation(Operation< Signature > &op)
RTT::base::TaskCore::setPeriod
virtual bool setPeriod(Seconds s)
RTT::TaskContext::start
virtual bool start()
kdl_typekit
Author(s): Steven Bellens, Ruben Smits
autogenerated on Tue Jan 5 2021 03:41:43