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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 <gtest/gtest.h>
#include <map>
#include <stdlib.h>
#include "sdf/sdf.hh"
#include "test_config.h"
const std::string SDF_ROOT_SCHEMA = std::string(PROJECT_BINARY_DIR)
+ "/sdf/" + SDF_PROTOCOL_VERSION + "/root.xsd";
const std::string SDF_TEST_PR2 = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/pr2.sdf";
const std::string SDF_TEST_TURTLEBOT = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/turtlebot.sdf";
const std::string SDF_TEST_PENDULUM = std::string(PROJECT_SOURCE_PATH)
+ "/test/integration/model/double_pendulum.sdf";
class SDFSchemaGenerator : public testing::Test
{
public:
void runXMLlint(const std::string & model)
{
std::string xmllintCmd = "xmllint --noout --schema " +
SDF_ROOT_SCHEMA + " " + model;
std::cout << "CMD[" << xmllintCmd << "]\n";
if (system(xmllintCmd.c_str()) != 0)
FAIL() << "Fail in parsing the model";
else
SUCCEED();
}
};
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestDoblePendulum)
{
runXMLlint(SDF_TEST_PENDULUM);
}
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestPR2Model)
{
runXMLlint(SDF_TEST_PR2);
}
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestTurtleBotModel)
{
runXMLlint(SDF_TEST_TURTLEBOT);
}
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