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/*
* Copyright 2014 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 <sstream>
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
std::string get_sdf_string(const std::string &_version)
{
std::ostringstream stream;
stream
<< "<sdf version='" << _version << "'>"
<< "<model name='model'>"
<< " <link name='parent'/>"
<< " <link name='child'/>"
<< " <joint name='joint' type='revolute'>"
<< " <parent>parent</parent>"
<< " <child>child</child>"
<< " <axis>"
<< " <xyz>1 0 0</xyz>"
<< " </axis>"
<< " </joint>"
<< "</model>"
<< "</sdf>";
return stream.str();
}
////////////////////////////////////////
// sdf model, version 1.4, use_parent_model_frame tag should
// be removed when converted to 1.7.
TEST(JointAxisFrame, Version_1_4_missing)
{
sdf::SDFPtr model(new sdf::SDF());
sdf::init(model);
ASSERT_TRUE(sdf::readString(get_sdf_string("1.4"), model));
sdf::ElementPtr joint = model->Root()->GetElement(
"model")->GetElement("joint");
sdf::ElementPtr axis = joint->GetElement("axis");
ASSERT_NE(nullptr, axis);
axis->PrintValues("");
EXPECT_FALSE(axis->HasElement("use_parent_model_frame"));
sdf::ElementPtr xyz = axis->GetElement("xyz");
ASSERT_NE(nullptr, xyz);
ASSERT_TRUE(xyz->HasAttribute("expressed_in"));
EXPECT_EQ("__model__", xyz->Get<std::string>("expressed_in"));
// Try to load DOM object and expect it to succeed with no errors
sdf::Root root;
auto errors = root.Load(model);
EXPECT_EQ(0u, errors.size());
}
////////////////////////////////////////
// sdf model, version 1.4, use_parent_model_frame tag should
// not be added when reading without converting.
TEST(JointAxisFrame, Version_1_4_no_convert)
{
sdf::Errors errors;
sdf::SDFPtr model(new sdf::SDF());
sdf::init(model);
ASSERT_TRUE(
sdf::readStringWithoutConversion(get_sdf_string("1.4"), model, errors));
EXPECT_EQ("1.4", model->Root()->Get<std::string>("version"));
sdf::ElementPtr joint = model->Root()->GetElement(
"model")->GetElement("joint");
sdf::ElementPtr axis = joint->GetElement("axis");
ASSERT_NE(nullptr, axis);
axis->PrintValues("");
EXPECT_FALSE(axis->HasElement("use_parent_model_frame"));
// Try to load DOM object and expect it to fail since SDF is not updated
sdf::Root root;
errors = root.Load(model);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(1u, errors.size());
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
const auto expErr =
"SDF version attribute[1.4] should match the latest "
"version[" SDF_PROTOCOL_VERSION "] when loading DOM objects.";
EXPECT_TRUE(errors[0].Message().find(expErr) != std::string::npos)
<< errors[0].Message();
}
////////////////////////////////////////
// sdf model, version 1.4, use_parent_model_frame tag should
// be added when converted to 1.5.
TEST(JointAxisFrame, Version_1_4_to_1_5)
{
sdf::Errors errors;
sdf::SDFPtr model(new sdf::SDF());
sdf::init(model);
ASSERT_TRUE(sdf::convertString(get_sdf_string("1.4"), "1.5", model));
EXPECT_EQ("1.5", model->Root()->Get<std::string>("version"));
sdf::ElementPtr joint = model->Root()->GetElement(
"model")->GetElement("joint");
sdf::ElementPtr axis = joint->GetElement("axis");
ASSERT_NE(nullptr, axis);
axis->PrintValues("");
EXPECT_TRUE(axis->HasElement("use_parent_model_frame"));
EXPECT_TRUE(axis->Get<bool>("use_parent_model_frame"));
// Try to load DOM object and expect it to fail since SDF is not updated
sdf::Root root;
errors = root.Load(model);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(1u, errors.size());
EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
const auto expErr =
"SDF version attribute[1.5] should match the latest "
"version[" SDF_PROTOCOL_VERSION "] when loading DOM objects.";
EXPECT_TRUE(errors[0].Message().find(expErr) != std::string::npos)
<< errors[0].Message();
}
////////////////////////////////////////
// sdf model, version 1.5, use_parent_model_frame tag should
// be removed when converted to 1.7.
TEST(JointAxisFrame, Version_1_5_missing)
{
sdf::SDFPtr model(new sdf::SDF());
sdf::init(model);
ASSERT_TRUE(sdf::readString(get_sdf_string("1.5"), model));
sdf::ElementPtr joint = model->Root()->GetElement(
"model")->GetElement("joint");
sdf::ElementPtr axis = joint->GetElement("axis");
EXPECT_FALSE(axis->HasElement("use_parent_model_frame"));
// Try to load DOM object and expect it to succeed with no errors
sdf::Root root;
auto errors = root.Load(model);
EXPECT_EQ(0u, errors.size());
}
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