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/*
* Copyright 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 <gtest/gtest.h>
#include "sdf/Error.hh"
#include "sdf/Filesystem.hh"
#include "sdf/Model.hh"
#include "sdf/Root.hh"
#include "sdf/Types.hh"
#include "sdf/World.hh"
#include "test_config.h"
/////////////////////////////////////////////////
TEST(DOMRoot, InvalidSDF)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "empty_invalid.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
EXPECT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::FILE_READ, errors[0].Code());
}
/////////////////////////////////////////////////
TEST(DOMRoot, NoVersion)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "empty_noversion.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
EXPECT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::FILE_READ, errors[0].Code());
}
/////////////////////////////////////////////////
TEST(DOMRoot, Load)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "empty.sdf");
sdf::Root root;
EXPECT_EQ(0u, root.WorldCount());
sdf::Errors errors = root.Load(testFile);
EXPECT_TRUE(errors.empty()) << errors;
EXPECT_EQ(SDF_PROTOCOL_VERSION, root.Version());
EXPECT_EQ(1u, root.WorldCount());
EXPECT_TRUE(root.WorldByIndex(0) != nullptr);
EXPECT_TRUE(root.WorldByIndex(1) == nullptr);
EXPECT_EQ("default", root.WorldByIndex(0)->Name());
EXPECT_EQ(1u, root.WorldByIndex(0)->ModelCount());
ASSERT_TRUE(root.WorldByIndex(0)->ModelByIndex(0) != nullptr);
EXPECT_EQ("ground_plane", root.WorldByIndex(0)->ModelByIndex(0)->Name());
EXPECT_TRUE(root.WorldByIndex(0)->ModelNameExists("ground_plane"));
}
/////////////////////////////////////////////////
TEST(DOMRoot, LoadMultipleModels)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "root_multiple_models.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
// An error should be emitted since there are multiple root models.
// errors. For now, only the first model is loaded.
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_EQ("Root object can only contain one model. Using the first one found",
errors[0].Message());
ASSERT_NE(nullptr, root.Model());
EXPECT_EQ("robot1", root.Model()->Name());
}
/////////////////////////////////////////////////
TEST(DOMRoot, LoadDuplicateModels)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "root_duplicate_models.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
ASSERT_FALSE(errors.empty());
EXPECT_EQ(sdf::ErrorCode::DUPLICATE_NAME, errors[0].Code());
EXPECT_EQ("model with name[robot1] already exists.", errors[0].Message());
EXPECT_NE(nullptr, root.Model());
EXPECT_EQ("robot1", root.Model()->Name());
}
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