typekit_scripting_test.cpp

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#include <gtest/gtest.h>
#include <rtt/os/main.h>
#include <rtt/plugin/PluginLoader.hpp>
#include <rtt/scripting/ScriptingService.hpp>
#include <rtt/TaskContext.hpp>


void throw_function() {
    throw std::exception();
}

class KDLPluginScriptingTest : public testing::Test {

protected:
    KDLPluginScriptingTest():
        tc("test")
    {
    }

    virtual void SetUp() {
        ASSERT_TRUE(RTT::plugin::PluginLoader::Instance()->loadTypekit("kdl_typekit",RTT::plugin::PluginLoader::Instance()->getPluginPath())) << "Failed to load kdl typekit";
        ASSERT_TRUE(tc.loadService("scripting")) << "Unable to load scripting service";
        scripting = boost::dynamic_pointer_cast<RTT::scripting::ScriptingService>( tc.provides()->getService("scripting") );
        ASSERT_TRUE(scripting.get()) << "Failed to get loaded scripting service";

        tc.addOperation("throw",&throw_function);
        tc.setPeriod(0.01);
        ASSERT_TRUE(scripting->loadPrograms("./typekit-test.ops",false)) << "Failed to load test program";
        ASSERT_TRUE(tc.start()) << "Failed to start TaskContext";
    }
    virtual void TearDown() {
    }
    
    RTT::TaskContext tc;
    RTT::scripting::ScriptingService::shared_ptr scripting;
};

TEST_F(KDLPluginScriptingTest, ScriptTest) {
    std::vector<std::string> programs = scripting->getProgramList();

    for(std::vector<std::string>::const_iterator it = programs.begin(); it != programs.end(); ++it) {
        RTT::scripting::ProgramInterfacePtr program = scripting->getProgram(*it);
        ASSERT_TRUE(program.get()) << "Failed to get program " << *it;
        ASSERT_TRUE(program->start());
        while(program->isRunning()) {
            ASSERT_FALSE(program->inError()) << "Program " << *it << " failed on line " << program->getLineNumber();
            usleep(1000);
        }
        ASSERT_FALSE(program->inError()) << "Program " << *it << " failed on line " << program->getLineNumber();
    }
}

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