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* Copyright (c) 2008, Willow Garage, Inc.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/** \author Ioan Sucan */
#include <gtest/gtest.h>
#include <cstdlib>
#include <dirent.h>
#include <sys/types.h>
#include <sys/param.h>
#include <sys/stat.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <iostream>
int runExternalProcess(const std::string &executable, const std::string &args)
{
return system((executable + " " + args).c_str());
}
int walker( char *result, int& test_result)
{
DIR *d;
struct dirent *dir;
d = opendir( "robots" );
if( d == NULL )
{
return 1;
}
while( ( dir = readdir( d ) ) )
{
if( strcmp( dir->d_name, "." ) == 0 ||
strcmp( dir->d_name, ".." ) == 0 )
{
continue;
}
if( dir->d_type != DT_DIR )
{
std::string dir_name = dir->d_name;
if (dir_name.find(std::string(".urdf.xacro")) == dir_name.size()-11)
{
char pwd[MAXPATHLEN];
getcwd( pwd, MAXPATHLEN );
printf("\n\ntesting: %s\n",(std::string(pwd)+"/robots/"+dir_name).c_str());
runExternalProcess("python `rospack find xacro`/xacro.py", std::string(pwd)+"/robots/"+dir_name+" > `rospack find turtlebot_description`/test/tmp.urdf" );
test_result = test_result || runExternalProcess("`rospack find urdf_parser`/bin/check_urdf", "`rospack find turtlebot_description`/test/tmp.urdf");
//break;
}
}
}
closedir( d );
return *result == 0;
}
TEST(URDF, CorrectFormat)
{
int test_result = 0;
char buf[MAXPATHLEN] = { 0 };
if( walker( buf, test_result ) == 0 )
{
printf( "Found: %s\n", buf );
}
else
{
puts( "Not found" );
}
EXPECT_TRUE(test_result == 0);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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