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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"
const std::string SDF_ROOT_SCHEMA =
sdf::filesystem::append(PROJECT_BINARY_DIR, "sdf", SDF_PROTOCOL_VERSION,
"root.xsd");
const std::string SDF_TEST_PR2 =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", "model",
"pr2.sdf");
const std::string SDF_TEST_TURTLEBOT =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", "model",
"turtlebot.sdf");
const std::string SDF_TEST_PENDULUM =
sdf::filesystem::append(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, TestDoublePendulum)
{
runXMLlint(SDF_TEST_PENDULUM);
}
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestPR2Model)
{
runXMLlint(SDF_TEST_PR2);
}
/////////////////////////////////////////////////
TEST_F(SDFSchemaGenerator, TestTurtleBotModel)
{
runXMLlint(SDF_TEST_TURTLEBOT);
}
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