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
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
|
// 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 <memory>
#include <pluginlib/class_loader.hpp> // NOLINT
#include "rcutils/logging_macros.h" // NOLINT
#include <test_base.hpp>
TEST(PluginlibTest, unknownPlugin) {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
ASSERT_THROW(
test_loader.createSharedInstance("test_pluginlib/foobar"), pluginlib::LibraryLoadException);
}
TEST(PluginlibTest, misspelledPlugin) {
pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("test_pluginlib", "test_base::Fuba");
ASSERT_THROW(
bad_test_loader.createSharedInstance("test_pluginlib/foo"), pluginlib::LibraryLoadException);
}
TEST(PluginlibTest, invalidPackage) {
ASSERT_THROW(pluginlib::ClassLoader<test_base::Fubar>("test_pluginlib_bad",
"test_base::Fubar"),
pluginlib::ClassLoaderException);
}
TEST(PluginlibTest, brokenPlugin) {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
ASSERT_THROW(
test_loader.createSharedInstance("test_pluginlib/none"), pluginlib::PluginlibException);
}
TEST(PluginlibTest, workingPlugin) {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
try {
std::shared_ptr<test_base::Fubar> foo = test_loader.createSharedInstance("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(PluginlibTest, createUnmanagedInstanceAndUnloadLibrary) {
RCUTILS_LOG_INFO("Making the ClassLoader...");
pluginlib::ClassLoader<test_base::Fubar> pl("test_pluginlib", "test_base::Fubar");
RCUTILS_LOG_INFO("Instantiating plugin...");
test_base::Fubar * inst = pl.createUnmanagedInstance("test_pluginlib/foo");
RCUTILS_LOG_INFO("Deleting plugin...");
delete inst;
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.");
}
TEST(PluginlibTest, createManagedInstanceAndUnloadLibrary) {
RCUTILS_LOG_INFO("Making the ClassLoader...");
pluginlib::ClassLoader<test_base::Fubar> pl("test_pluginlib", "test_base::Fubar");
RCUTILS_LOG_INFO("Instantiating plugin...");
{
std::shared_ptr<test_base::Fubar> inst = pl.createSharedInstance("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.");
}
TEST(PluginlibTest, brokenXML) {
try {
pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar",
"plugin_test");
test_loader.createSharedInstance("test_pluginlib/foo");
} catch (pluginlib::PluginlibException & /*ex*/) {
SUCCEED();
return;
}
ADD_FAILURE() << "Didn't throw exception as expected";
}
// Run all the tests that were declared with TEST()
int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
|
