1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
|
// Copyright (c) 2012, Willow Garage, Inc. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the Willow Garage nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
#include <gtest/gtest.h>
#include <pluginlib/class_loader.hpp>
#include <test_base.hpp>
TEST(PluginlibUniquePtrTest, unknownPlugin) {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
ASSERT_THROW(test_loader.createUniqueInstance("test_pluginlib/foobar"),
pluginlib::LibraryLoadException);
}
TEST(PluginlibUniquePtrTest, misspelledPlugin) {
pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("test_pluginlib", "test_base::Fuba");
ASSERT_THROW(bad_test_loader.createUniqueInstance(
"test_pluginlib/foo"), pluginlib::LibraryLoadException);
}
TEST(PluginlibTest, brokenPlugin) {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
ASSERT_THROW(
test_loader.createUniqueInstance("test_pluginlib/none"), pluginlib::PluginlibException);
}
TEST(PluginlibUniquePtrTest, workingPlugin) {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
try {
pluginlib::UniquePtr<test_base::Fubar> foo =
test_loader.createUniqueInstance("test_pluginlib/foo");
foo->initialize(10.0);
EXPECT_EQ(100.0, foo->result());
} catch (pluginlib::PluginlibException & ex) {
FAIL() << "Throwing exception: " << ex.what();
return;
} catch (...) {
FAIL() << "Uncaught exception";
}
}
TEST(PluginlibUniquePtrTest, createUniqueInstanceAndUnloadLibrary) {
RCUTILS_LOG_INFO("Making the ClassLoader...");
pluginlib::ClassLoader<test_base::Fubar> pl("test_pluginlib", "test_base::Fubar");
RCUTILS_LOG_INFO("Instantiating plugin...");
{
pluginlib::UniquePtr<test_base::Fubar> inst = pl.createUniqueInstance("test_pluginlib/foo");
}
RCUTILS_LOG_INFO("Checking if plugin is loaded with isClassLoaded...");
if (pl.isClassLoaded("test_pluginlib/foo")) {
RCUTILS_LOG_INFO("Class is loaded");
} else {
FAIL() << "Library containing class should be loaded but isn't.";
}
RCUTILS_LOG_INFO("Trying to unload class with unloadLibraryForClass...");
try {
pl.unloadLibraryForClass("test_pluginlib/foo");
} catch (pluginlib::PluginlibException & e) {
FAIL() << "Could not unload library when I should be able to. " << e.what();
}
RCUTILS_LOG_INFO("Done.");
}
// Run all the tests that were declared with TEST()
int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
|
