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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <gazebo/physics/Model.hh>
#include <gazebo/physics/World.hh>
#include "plugins/PluginInterfaceTest.hh"
using namespace gazebo;
PluginInterfaceTest::PluginInterfaceTest() : ModelPlugin()
{
// HACK Part of the hack described in PluginInterfaceTest.hh
this->partResultListener = new GtestPartResultListener();
::testing::UnitTest::GetInstance()->listeners().Append(
this->partResultListener);
}
PluginInterfaceTest::~PluginInterfaceTest()
{
}
void PluginInterfaceTest::Load(physics::ModelPtr _model,
sdf::ElementPtr _sdf)
{
this->model = _model;
ASSERT_NE(_sdf, nullptr);
ASSERT_NE(_model, nullptr);
ASSERT_EQ(_model->GetName(), "box");
TestLoadParam(_sdf);
EXPECT_EQ(this->type, PluginType::MODEL_PLUGIN);
EXPECT_EQ(this->GetType(), PluginType::MODEL_PLUGIN);
#ifdef __APPLE__
const std::string pluginFilename = "libPluginInterfaceTest.dylib";
#elif _WIN32
const std::string pluginFilename = "PluginInterfaceTest.dll";
#else
const std::string pluginFilename = "libPluginInterfaceTest.so";
#endif // ifdef __APPLE__
EXPECT_EQ(this->filename, pluginFilename);
EXPECT_EQ(this->GetFilename(), pluginFilename);
EXPECT_EQ(this->handleName, "pluginInterfaceTest");
EXPECT_EQ(this->GetHandle(), "pluginInterfaceTest");
}
void PluginInterfaceTest::TestLoadParam(sdf::ElementPtr &_sdf) const
{
{
bool b = false;
LoadParam(_sdf, "bool", b, false);
EXPECT_EQ(b, true);
LoadParam(_sdf, "bool_nonexistent", b, false);
EXPECT_EQ(b, false);
}
{
int i = 0;
LoadParam(_sdf, "int", i, 0);
EXPECT_EQ(i, 42);
LoadParam(_sdf, "int_nonexistent", i, 5);
EXPECT_EQ(i, 5);
}
{
float f = 3.14f;
LoadParam(_sdf, "float", f, 0.0f);
EXPECT_FLOAT_EQ(f, 3.14f);
LoadParam(_sdf, "float_nonexistent", f, 1.0f);
EXPECT_FLOAT_EQ(f, 1.0f);
}
{
double d = 3.14;
LoadParam(_sdf, "float", d, 0.0);
EXPECT_DOUBLE_EQ(d, 3.14);
LoadParam(_sdf, "float_nonexistent", d, 1.0);
EXPECT_DOUBLE_EQ(d, 1.0);
}
{
std::string s = "";
LoadParam(_sdf, "string", s, "");
EXPECT_EQ(s, std::string("plugin_test"));
LoadParam(_sdf, "string_nonexistent", s, "foo");
EXPECT_EQ(s, std::string("foo"));
LoadParam(_sdf, "string_nonexistent2", s, std::string("bar"));
EXPECT_EQ(s, std::string("bar"));
}
}
void PluginInterfaceTest::Init()
{
// HACK Part of the hack described in PluginInterfaceTest.hh
if (!this->partResultListener->failedTests.empty())
{
this->model->SetName("failure");
}
else
{
this->model->SetName("success");
}
}
// HACK Part of the hack described in PluginInterfaceTest.hh
void GtestPartResultListener::OnTestPartResult(
const ::testing::TestPartResult &result)
{
if (result.failed())
{
this->failedTests.push_back(result);
}
}
GZ_REGISTER_MODEL_PLUGIN(PluginInterfaceTest)
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