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/*
* Copyright 2020 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 <gtest/gtest.h>
#include "sdf/Filesystem.hh"
#include "sdf/Root.hh"
#include "test_config.h"
void PrintErrors(sdf::Errors &_errors)
{
for (sdf::Error e : _errors)
std::cout << e.Message() << std::endl;
}
/////////////////////////////////////////////////
TEST(ParamPassingTest, ExperimentalParamsTag)
{
const std::string modelRootPath =
sdf::testing::TestFile("integration", "model");
sdf::setFindCallback(
[&](const std::string &_file)
{
return sdf::filesystem::append(modelRootPath, _file);
});
// checks normal <include> (w/o <experimental:params>)
std::string testFile =
sdf::testing::TestFile("integration", "include_model.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
PrintErrors(errors);
EXPECT_TRUE(errors.empty());
// checks <include> containing <experimental:params> w/ correctly specified
// elements
testFile = sdf::testing::TestFile("integration", "include_custom_model.sdf");
errors = root.Load(testFile);
PrintErrors(errors);
EXPECT_TRUE(errors.empty());
// compare with expected output
testFile = sdf::testing::TestFile("integration",
"include_custom_model_expected_output.sdf");
sdf::Root expectedRoot;
errors = expectedRoot.Load(testFile);
PrintErrors(errors);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(root.Element()->ToString(""), expectedRoot.Element()->ToString(""))
<< "ACTUAL:\n" << root.Element()->ToString("\t")
<< "\nEXPECTED:\n" << expectedRoot.Element()->ToString("\t");
// Expected errors
testFile = sdf::testing::TestFile("integration",
"include_invalid_custom_model.sdf");
errors = root.Load(testFile);
PrintErrors(errors);
EXPECT_FALSE(errors.empty());
ASSERT_EQ(errors.size(), 29u);
int i = -1;
// missing element_id attribute
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
// element does not exist in included model
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// element already exists in included model
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::DUPLICATE_NAME);
// for add action, parent of specified element does not exist
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// missing name after double colons
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
// missing action attribute
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
// incorrect schema (missing required attributes; in children of element_id)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_INVALID);
// not defined sdf element (in children of where element_id is defined)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_INVALID);
// not defined sdf element (where element_id is defined)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_INVALID);
// missing 'name' attribute where element_id is with action="add"
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
// 'name' attribute is empty (where element_id is with action="add")
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
// incorrect schema (missing required attributes; where element_id defined)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_INVALID);
// invalid action
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
// invalid child action
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
// child element does not exist
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// child <box> (child of <geometry>) does not exist
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// child element (w/ name attribute) does not exist
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// child element does not exist (replace action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// missing 'name' attribute (replace action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
// invalid attribute (modify action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
// element missing (modify action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// incorrect schema (missing required attributes; where element_id defined)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_MISSING);
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_INVALID);
// invalid attribute (modify action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ATTRIBUTE_INVALID);
// element missing (modify action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// element missing (modify action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_MISSING);
// element has invalid value (modify action)
EXPECT_EQ(errors[++i].Code(), sdf::ErrorCode::ELEMENT_INVALID);
}
/////////////////////////////////////////////////
TEST(ParamPassingTest, NestedInclude)
{
const std::string modelRootPath =
sdf::testing::TestFile("integration", "model", "nested_include");
sdf::setFindCallback(
[&](const std::string &_file)
{
return sdf::filesystem::append(modelRootPath, _file);
});
// checks correctly specified elements in <experimental:params>
// at top-level include, which has several nested includes
// e.g., When model A includes B and B includes C. The top-level A
// <experimental:params> specifies elements of C
std::string testFile =
sdf::testing::TestFile("integration", "model",
"nested_include", "test_nested_include.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
PrintErrors(errors);
EXPECT_TRUE(errors.empty());
// compare with expected output
testFile = sdf::testing::TestFile("integration",
"include_custom_nested_model_expected_output.sdf");
sdf::Root expectedRoot;
errors = expectedRoot.Load(testFile);
PrintErrors(errors);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(root.Element()->ToString(""), expectedRoot.Element()->ToString(""))
<< "ACTUAL:\n" << root.Element()->ToString("\t")
<< "\nEXPECTED:\n" << expectedRoot.Element()->ToString("\t");
}
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