141 lines
5.1 KiB
C++
Executable File
141 lines
5.1 KiB
C++
Executable File
/*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <gtest/gtest.h>
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#include <pluginlib/class_loader.hpp>
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#include "./test_base.h"
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TEST(PluginlibTest, unknownPlugin) {
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pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
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ASSERT_THROW(test_loader.createInstance("pluginlib/foobar"), pluginlib::LibraryLoadException);
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}
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TEST(PluginlibTest, misspelledPlugin) {
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pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib", "test_base::Fuba");
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ASSERT_THROW(bad_test_loader.createInstance("pluginlib/foo"), pluginlib::LibraryLoadException);
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}
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TEST(PluginlibTest, invalidPackage) {
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ASSERT_THROW(pluginlib::ClassLoader<test_base::Fubar>("pluginlib_bad",
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"test_base::Fubar"),
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pluginlib::ClassLoaderException);
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}
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TEST(PluginlibTest, brokenPlugin) {
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pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
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ASSERT_THROW(test_loader.createInstance("pluginlib/none"), pluginlib::PluginlibException);
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}
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TEST(PluginlibTest, workingPlugin) {
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pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
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try {
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boost::shared_ptr<test_base::Fubar> foo = test_loader.createInstance("pluginlib/foo");
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foo->initialize(10.0);
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EXPECT_EQ(100.0, foo->result());
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} catch (pluginlib::PluginlibException & ex) {
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FAIL() << "Throwing exception: " << ex.what();
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return;
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} catch (...) {
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FAIL() << "Uncaught exception";
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}
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}
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TEST(PluginlibTest, createUnmanagedInstanceAndUnloadLibrary) {
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ROS_INFO("Making the ClassLoader...");
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pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
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ROS_INFO("Instantiating plugin...");
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test_base::Fubar * inst = pl.createUnmanagedInstance("pluginlib/foo");
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ROS_INFO("Deleting plugin...");
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delete inst;
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ROS_INFO("Checking if plugin is loaded with isClassLoaded...");
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if (pl.isClassLoaded("pluginlib/foo")) {
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ROS_INFO("Class is loaded");
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} else {
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FAIL() << "Library containing class should be loaded but isn't.";
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}
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ROS_INFO("Trying to unload class with unloadLibraryForClass...");
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try {
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pl.unloadLibraryForClass("pluginlib/foo");
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} catch (pluginlib::PluginlibException & e) {
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FAIL() << "Could not unload library when I should be able to.";
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}
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ROS_INFO("Done.");
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}
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TEST(PluginlibTest, createManagedInstanceAndUnloadLibrary) {
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ROS_INFO("Making the ClassLoader...");
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pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
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ROS_INFO("Instantiating plugin...");
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{
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boost::shared_ptr<test_base::Fubar> inst = pl.createInstance("pluginlib/foo");
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}
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ROS_INFO("Checking if plugin is loaded with isClassLoaded...");
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if (pl.isClassLoaded("pluginlib/foo")) {
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ROS_INFO("Class is loaded");
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} else {
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FAIL() << "Library containing class should be loaded but isn't.";
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}
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ROS_INFO("Trying to unload class with unloadLibraryForClass...");
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try {
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pl.unloadLibraryForClass("pluginlib/foo");
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} catch (pluginlib::PluginlibException & e) {
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FAIL() << "Could not unload library when I should be able to.";
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}
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ROS_INFO("Done.");
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}
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TEST(PluginlibTest, brokenXML) {
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try {
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pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar",
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"plugin_test");
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test_loader.createInstance("pluginlib/foo");
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} catch (pluginlib::PluginlibException & ex) {
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SUCCEED();
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return;
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}
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ADD_FAILURE() << "Didn't throw exception as expected";
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}
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// Run all the tests that were declared with TEST()
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int main(int argc, char ** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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