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#include <iostream>
#include <string>
#include <gtest/gtest.h>
#include <urdf_parser/urdf_parser.h>
#define EXPECT_THROW_OF_TYPE(type, statement, msg) \
do { \
try { \
statement; \
} catch (const type & err) { \
if (std::string(err.what()).find(msg) == std::string::npos) { \
FAIL() << "Expected error msg containing:" << std::endl \
<< msg << std::endl \
<< "Saw error msg:" << std::endl \
<< err.what() << std::endl; \
} \
} catch (const std::exception & err) { \
FAIL() << "Expected " #type << std::endl \
<< "Saw exception type: " << typeid(err).name() << std::endl; \
} \
} while (0)
#define EXPECT_RUNTIME_THROW(st, msg) \
EXPECT_THROW_OF_TYPE(std::runtime_error, st, msg)
TEST(URDF_VERSION, test_version_wrong_type)
{
std::string test_str =
"<robot name=\"test\" version=\"foo\">"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(test_str);
EXPECT_EQ(urdf, nullptr);
}
TEST(URDF_VERSION, test_version_unsupported_version)
{
std::string test_str =
"<robot name=\"test\" version=\"2\">"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(test_str);
EXPECT_EQ(urdf, nullptr);
}
TEST(URDF_VERSION, test_version_not_specified)
{
std::string test_str =
"<robot name=\"test\">"
" <link name=\"l1\"/>"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(test_str);
EXPECT_NE(urdf, nullptr);
}
TEST(URDF_VERSION, test_version_one_int)
{
std::string test_str =
"<robot name=\"test\" version=\"1\">"
" <link name=\"l1\"/>"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(test_str);
EXPECT_EQ(urdf, nullptr);
}
TEST(URDF_VERSION, test_version_one_float)
{
std::string test_str =
"<robot name=\"test\" version=\"1.0\">"
" <link name=\"l1\"/>"
"</robot>";
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(test_str);
EXPECT_NE(urdf, nullptr);
}
TEST(URDF_VERSION_CLASS, test_null_ptr)
{
urdf_export_helpers::URDFVersion vers1(nullptr);
EXPECT_EQ(vers1.getMajor(), 1u);
EXPECT_EQ(vers1.getMinor(), 0u);
}
TEST(URDF_VERSION_CLASS, test_correct_string)
{
urdf_export_helpers::URDFVersion vers2("1.0");
EXPECT_EQ(vers2.getMajor(), 1u);
EXPECT_EQ(vers2.getMinor(), 0u);
}
TEST(URDF_VERSION_CLASS, test_too_many_dots)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("1.0.0"),
"The version attribute should be in the form 'x.y'");
}
TEST(URDF_VERSION_CLASS, test_not_enough_numbers)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("1."),
"The version attribute should be in the form 'x.y'");
}
TEST(URDF_VERSION_CLASS, test_no_major_number)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2(".1"),
"One of the fields of the version attribute is blank");
}
TEST(URDF_VERSION_CLASS, test_negative_major_number)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("-1.0"),
"Version number must be positive");
}
TEST(URDF_VERSION_CLASS, test_negative_minor_number)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("1.-1"),
"Version number must be positive");
}
TEST(URDF_VERSION_CLASS, test_no_numbers)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("abc"),
"The version attribute should be in the form 'x.y'");
}
TEST(URDF_VERSION_CLASS, test_dots_no_numbers)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("a.c"),
"Version attribute is not an integer");
}
TEST(URDF_VERSION_CLASS, test_dots_one_number)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("1.c"),
"Version attribute is not an integer");
}
TEST(URDF_VERSION_CLASS, test_trailing_junk)
{
EXPECT_RUNTIME_THROW(urdf_export_helpers::URDFVersion vers2("1.0~pre6"),
"Extra characters after the version number");
}
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