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/*
* Copyright (C) 2017 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 <string>
#include <vector>
#include <gtest/gtest.h>
#include <iostream>
#include "ignition/common/Console.hh"
#include "ignition/common/Filesystem.hh"
#include "ignition/common/PluginLoader.hh"
#include "ignition/common/SystemPaths.hh"
#include "ignition/common/Plugin.hh"
#include "test_config.h"
#include "DummyPluginsPath.h"
#include "util/DummyPlugins.hh"
/////////////////////////////////////////////////
TEST(PluginLoader, LoadBadPlugins)
{
std::string dummyPath =
ignition::common::copyFromUnixPath(IGN_DUMMY_PLUGIN_PATH);
ignition::common::SystemPaths sp;
sp.AddPluginPaths(dummyPath);
std::vector<std::string> libraryNames = {
"IGNBadPluginAPIVersionOld",
"IGNBadPluginAPIVersionNew",
"IGNBadPluginAlign",
"IGNBadPluginSize"};
for (auto const & libraryName : libraryNames)
{
std::string path = sp.FindSharedLibrary(libraryName);
ASSERT_FALSE(path.empty());
ignition::common::PluginLoader pl;
// Make sure the expected plugins were loaded.
ignition::common::Console::SetVerbosity(2);
std::unordered_set<std::string> pluginNames = pl.LoadLibrary(path);
EXPECT_TRUE(pluginNames.empty());
}
}
/////////////////////////////////////////////////
TEST(PluginLoader, LoadExistingLibrary)
{
std::string dummyPath =
ignition::common::copyFromUnixPath(IGN_DUMMY_PLUGIN_PATH);
ignition::common::SystemPaths sp;
sp.AddPluginPaths(dummyPath);
std::string path = sp.FindSharedLibrary("IGNDummyPlugins");
ASSERT_FALSE(path.empty());
ignition::common::PluginLoader pl;
// Make sure the expected plugins were loaded.
std::unordered_set<std::string> pluginNames = pl.LoadLibrary(path);
EXPECT_EQ(1u, pluginNames.count("::test::util::DummySinglePlugin"));
EXPECT_EQ(1u, pluginNames.count("::test::util::DummyMultiPlugin"));
std::cout << pl.PrettyStr();
// Make sure the expected interfaces were loaded.
EXPECT_EQ(5u, pl.InterfacesImplemented().size());
EXPECT_EQ(1u, pl.InterfacesImplemented()
.count("::test::util::DummyNameBase"));
EXPECT_EQ(2u, pl.PluginsImplementing("::test::util::DummyNameBase").size());
EXPECT_EQ(1u, pl.PluginsImplementing("::test::util::DummyDoubleBase").size());
ignition::common::PluginPtr firstPlugin =
pl.Instantiate("test::util::DummySinglePlugin");
EXPECT_TRUE(firstPlugin->HasInterface("test::util::DummyNameBase"));
EXPECT_FALSE(firstPlugin->HasInterface("test::util::DummyDoubleBase"));
EXPECT_FALSE(firstPlugin->HasInterface("test::util::DummyIntBase"));
EXPECT_FALSE(firstPlugin->HasInterface("test::util::DummySetterBase"));
ignition::common::PluginPtr secondPlugin =
pl.Instantiate("test::util::DummyMultiPlugin");
EXPECT_TRUE(secondPlugin->HasInterface("test::util::DummyNameBase"));
EXPECT_TRUE(secondPlugin->HasInterface("test::util::DummyDoubleBase"));
EXPECT_TRUE(secondPlugin->HasInterface("test::util::DummyIntBase"));
EXPECT_TRUE(secondPlugin->HasInterface("test::util::DummySetterBase"));
// Check that the DummyNameBase interface exists and that it returns the
// correct value.
test::util::DummyNameBase* nameBase =
firstPlugin->QueryInterface<test::util::DummyNameBase>(
"test::util::DummyNameBase");
ASSERT_NE(nullptr, nameBase);
EXPECT_EQ(std::string("DummySinglePlugin"), nameBase->MyNameIs());
// Check that DummyDoubleBase does not exist for this plugin
test::util::DummyDoubleBase* doubleBase =
firstPlugin->QueryInterface<test::util::DummyDoubleBase>(
"test::util::DummyDoubleBase");
EXPECT_EQ(nullptr, doubleBase);
// Check that DummyDoubleBase does exist for this function and that it returns
// the correct value.
doubleBase = secondPlugin->QueryInterface<test::util::DummyDoubleBase>(
"test::util::DummyDoubleBase");
ASSERT_NE(nullptr, doubleBase);
EXPECT_NEAR(3.14159, doubleBase->MyDoubleValueIs(), 1e-8);
// Check that the DummyNameBase interface exists for this plugin and that it
// returns the correct value.
nameBase = secondPlugin->QueryInterface<test::util::DummyNameBase>(
"test::util::DummyNameBase");
ASSERT_NE(nullptr, nameBase);
EXPECT_EQ(std::string("DummyMultiPlugin"), nameBase->MyNameIs());
test::util::DummyGetSomeObjectBase *objectBase =
secondPlugin->QueryInterface<test::util::DummyGetSomeObjectBase>();
ASSERT_NE(nullptr, objectBase);
std::unique_ptr<test::util::SomeObject> object =
objectBase->GetSomeObject();
EXPECT_EQ(secondPlugin->QueryInterface<test::util::DummyIntBase>()
->MyIntegerValueIs(),
object->someInt);
EXPECT_NEAR(doubleBase->MyDoubleValueIs(), object->someDouble, 1e-8);
}
/////////////////////////////////////////////////
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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