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/*
* Copyright 2015 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 <iostream>
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "sdf/parser_urdf.hh"
#include "test_config.h"
/////////////////////////////////////////////////
std::string custom_exec(std::string _cmd)
{
#ifdef _WIN32
FILE *pipe = _popen(_cmd.c_str(), "r");
#else
FILE *pipe = popen(_cmd.c_str(), "r");
#endif
if (!pipe)
{
return "ERROR";
}
char buffer[128];
std::string result = "";
while (!feof(pipe))
{
if (fgets(buffer, 128, pipe) != nullptr)
{
result += buffer;
}
}
#ifdef _WIN32
_pclose(pipe);
#else
pclose(pipe);
#endif
return result;
}
const std::string sdfString(
"<?xml version='1.0'?>\n"
"<sdf version='1.5'>\n"
" <model name='break_bot'>\n"
" <link name='root-link'>\n"
" <sensor type='gps' name='mysensor' />"
" </link>\n"
" </model>\n"
"</sdf>");
const std::string getMemInfoPath =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "tools", "get_mem_info.py");
const std::string pythonMeminfo("python3 " + getMemInfoPath);
int getMemoryUsage()
{
return std::stoi(custom_exec(pythonMeminfo));
}
//////////////////////////////////////////////////
TEST(ElementMemoryLeak, SDFCreateDestroy)
{
// Initial memory usage
int memoryLimit = getMemoryUsage();
std::cout << "initial memory: " << memoryLimit << std::endl;
// Allow 15x increase (based on testing with Ubuntu and OSX)
memoryLimit *= 15;
for (unsigned int i = 0; i < 50; ++i)
{
sdf::SDF modelSDF;
modelSDF.SetFromString(sdfString);
int memoryUsage = getMemoryUsage();
EXPECT_LT(memoryUsage, memoryLimit);
}
std::cout << " final memory: "
<< getMemoryUsage()
<< std::endl;
}
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