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/*
* Copyright 2019 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/sdf.hh"
#include "test_config.h"
const std::string SDF_TEST_FILE =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration",
"custom_elems_attrs.sdf");
/////////////////////////////////////////////////
TEST(SDFParser, CustomElements)
{
sdf::Root root;
EXPECT_TRUE(root.Load(SDF_TEST_FILE).empty());
const sdf::World *world = root.WorldByIndex(0);
std::string worldName = world->Name();
EXPECT_EQ("W", worldName);
// Use of sdf::World::Element() to obtain an sdf::ElementPtr object
sdf::ElementPtr worldElement = world->Element();
// Use of sdf::ElementPtr::GetAttribute()
sdf::ParamPtr typeParam = worldElement->GetAttribute("mysim:type");
std::string simType;
// Use of sdf::ParamPtr::Get<T>()
typeParam->Get<std::string>(simType);
EXPECT_EQ("2d", simType);
const sdf::Model *model = world->ModelByIndex(0);
const sdf::Link *link1 = model->LinkByIndex(0);
// Use of sdf::Link::Element() to obtain an sdf::ElementPtr object
sdf::ElementPtr link1Element = link1->Element();
// Use of sdf::ElementPtr::Get<T>() to obtain the value of an attribute
auto customAttrStr = link1Element->Get<std::string>("mysim:custom_attr_str");
EXPECT_EQ("A", customAttrStr);
auto customAttrInt = link1Element->Get<int>("mysim:custom_attr_int");
EXPECT_EQ(5, customAttrInt);
// Use of sdf::Model::Element() to obtain an sdf::ElementPtr object
sdf::ElementPtr modelElement = model->Element();
sdf::ElementPtr transmission = modelElement->GetElement("mysim:transmission");
auto transmissionName = transmission->Get<std::string>("name");
EXPECT_EQ("simple_trans", transmissionName);
auto transmissionType = transmission->Get<std::string>("mysim:type");
EXPECT_EQ("transmission_interface/SimpleTransmission", transmissionType);
sdf::ElementPtr tranJointElement = transmission->GetElement("mysim:joint");
auto tranJointName = tranJointElement->Get<std::string>("name");
EXPECT_EQ("J1", tranJointName);
sdf::ElementPtr transHwInterfaceElement =
tranJointElement->GetElement("mysim:hardwareInterface");
// Use of sdf::ElementPtr::Get<T>() to obtain the value of a child element
auto tranHwInterface =
tranJointElement->Get<std::string>("mysim:hardwareInterface");
EXPECT_EQ("EffortJointInterface", tranHwInterface);
}
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