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/*
* Copyright 2013 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 <cstdlib>
#include <iostream>
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "test_config.h"
class SDFSchemaGenerator : public testing::Test
{
public:
void runXMLlint(const std::string & model)
{
const std::string sdfRootSchema = sdf::filesystem::append(
PROJECT_BINARY_DIR, "sdf", SDF_PROTOCOL_VERSION, "root.xsd");
std::string xmllintCmd = "xmllint --noout --schema " +
sdfRootSchema + " " + model;
std::cout << "CMD[" << xmllintCmd << "]\n";
if (system(xmllintCmd.c_str()) != 0)
{
FAIL() << "Fail in parsing the model";
}
else
{
SUCCEED();
}
}
};
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestDoublePendulum)
{
const std::string sdfTestPendulum =
sdf::testing::TestFile("integration", "model", "double_pendulum.sdf");
runXMLlint(sdfTestPendulum);
}
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestPR2Model)
{
const std::string sdfTestPr2 =
sdf::testing::TestFile("integration", "model", "pr2.sdf");
runXMLlint(sdfTestPr2);
}
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestTurtleBotModel)
{
const std::string sdfTestTurtlebot =
sdf::testing::TestFile("integration", "model", "turtlebot.sdf");
runXMLlint(sdfTestTurtlebot);
}
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