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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::filesystem::append(PROJECT_SOURCE_PATH, "test", "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::filesystem::append(PROJECT_SOURCE_PATH, "test", "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::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
"empty.sdf");
sdf::Root root;
EXPECT_EQ(0u, root.WorldCount());
EXPECT_TRUE(root.Load(testFile).empty());
EXPECT_EQ("1.7", 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::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
"root_multiple_models.sdf");
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
EXPECT_EQ(3u, root.ModelCount());
EXPECT_EQ("robot1", root.ModelByIndex(0)->Name());
EXPECT_EQ("robot2", root.ModelByIndex(1)->Name());
EXPECT_EQ("last_robot", root.ModelByIndex(2)->Name());
EXPECT_FALSE(root.ModelNameExists("robot"));
EXPECT_TRUE(root.ModelNameExists("robot1"));
EXPECT_TRUE(root.ModelNameExists("robot2"));
EXPECT_TRUE(root.ModelNameExists("last_robot"));
}
/////////////////////////////////////////////////
TEST(DOMRoot, LoadDuplicateModels)
{
const std::string testFile =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
"root_duplicate_models.sdf");
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
EXPECT_FALSE(errors.empty());
EXPECT_EQ(1u, root.ModelCount());
EXPECT_EQ("robot1", root.ModelByIndex(0)->Name());
}
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