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@@ -316,6 +316,133 @@ TEST(UtilityTest, ConvertFloat) | |
EXPECT_DOUBLE_EQ(s, 0.999f); | ||
} | ||
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///////////////////////////////////////////////// | ||
TEST(UtilityTest, ConvertFuelMetadata) | ||
{ | ||
msgs::FuelMetadata metaMsg; | ||
std::string modelConfigInput, worldConfigInput; | ||
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// test ConvertFuelMetadata(string, msgs::FuelMetadata) | ||
{ | ||
EXPECT_FALSE(msgs::ConvertFuelMetadata(modelConfigInput, metaMsg)); | ||
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metaMsg.Clear(); | ||
modelConfigInput = "<test/>"; | ||
EXPECT_FALSE(msgs::ConvertFuelMetadata(modelConfigInput, metaMsg)); | ||
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metaMsg.Clear(); | ||
modelConfigInput = "<model>test</model>"; | ||
EXPECT_FALSE(msgs::ConvertFuelMetadata(modelConfigInput, metaMsg)); | ||
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// Test <model> | ||
metaMsg.Clear(); | ||
modelConfigInput = R"( | ||
<model> | ||
<name>test_model</name> | ||
</model> | ||
)"; | ||
EXPECT_FALSE(msgs::ConvertFuelMetadata(modelConfigInput, metaMsg)); | ||
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metaMsg.Clear(); | ||
modelConfigInput = R"(<?xml version='1.0'?> | ||
<model> | ||
<sdf version='1.7'>model.sdf</sdf> | ||
<name>test_model</name> | ||
<version>3</version> | ||
<description>A model for testing</description> | ||
<author> | ||
<name>Foo Bar</name> | ||
<email>[email protected]</email> | ||
</author> | ||
<depend> | ||
<model> | ||
<uri>model://some_model</uri> | ||
</model> | ||
</depend> | ||
</model> | ||
)"; | ||
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EXPECT_TRUE(msgs::ConvertFuelMetadata(modelConfigInput, metaMsg)); | ||
EXPECT_EQ("test_model", metaMsg.name()); | ||
EXPECT_EQ(3, metaMsg.version()); | ||
EXPECT_EQ("A model for testing", metaMsg.description()); | ||
EXPECT_EQ("model.sdf", metaMsg.model().file()); | ||
EXPECT_EQ("sdf", metaMsg.model().file_format().name()); | ||
EXPECT_EQ(1, metaMsg.model().file_format().version().major()); | ||
EXPECT_EQ(7, metaMsg.model().file_format().version().minor()); | ||
EXPECT_EQ(1, metaMsg.authors().size()); | ||
EXPECT_EQ("Foo Bar", metaMsg.authors(0).name()); | ||
EXPECT_EQ("[email protected]", metaMsg.authors(0).email()); | ||
EXPECT_EQ(1, metaMsg.dependencies().size()); | ||
EXPECT_EQ("model://some_model", metaMsg.dependencies(0).uri()); | ||
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// Test <world> | ||
metaMsg.Clear(); | ||
worldConfigInput = R"(<?xml version='1.0'?> | ||
<world> | ||
<sdf version='1.7'>world.sdf</sdf> | ||
<name>test_world</name> | ||
<version>2</version> | ||
<description>A world for testing</description> | ||
</world> | ||
)"; | ||
EXPECT_TRUE(msgs::ConvertFuelMetadata(worldConfigInput, metaMsg)); | ||
EXPECT_EQ("test_world", metaMsg.name()); | ||
EXPECT_EQ(2, metaMsg.version()); | ||
EXPECT_EQ("A world for testing", metaMsg.description()); | ||
EXPECT_EQ("world.sdf", metaMsg.world().file()); | ||
EXPECT_EQ("sdf", metaMsg.world().file_format().name()); | ||
EXPECT_EQ(1, metaMsg.world().file_format().version().major()); | ||
EXPECT_EQ(7, metaMsg.world().file_format().version().minor()); | ||
EXPECT_EQ(0, metaMsg.authors().size()); | ||
EXPECT_EQ(0, metaMsg.dependencies().size()); | ||
} | ||
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// test ConvertFuelMetadata(msgs::FuelMetadata, string) | ||
{ | ||
std::string modelConfig; | ||
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// Test <world> | ||
metaMsg.Clear(); | ||
metaMsg.mutable_world()->set_file("world.sdf"); | ||
EXPECT_FALSE(msgs::ConvertFuelMetadata(metaMsg, modelConfig)); | ||
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metaMsg.set_name("test_world"); | ||
metaMsg.set_description("A world for testing"); | ||
metaMsg.set_version(2); | ||
metaMsg.mutable_world()->mutable_file_format()->set_name("sdf"); | ||
metaMsg.mutable_world()->mutable_file_format() | ||
->mutable_version()->set_major(1); | ||
metaMsg.mutable_world()->mutable_file_format() | ||
->mutable_version()->set_minor(7); | ||
EXPECT_TRUE(msgs::ConvertFuelMetadata(metaMsg, modelConfig)); | ||
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EXPECT_EQ(worldConfigInput, modelConfig); | ||
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// Test <model> | ||
metaMsg.Clear(); | ||
metaMsg.mutable_model()->set_file("model.sdf"); | ||
EXPECT_FALSE(msgs::ConvertFuelMetadata(metaMsg, modelConfig)); | ||
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metaMsg.set_name("test_model"); | ||
metaMsg.set_description("A model for testing"); | ||
metaMsg.set_version(3); | ||
metaMsg.mutable_model()->mutable_file_format()->set_name("sdf"); | ||
metaMsg.mutable_model()->mutable_file_format() | ||
->mutable_version()->set_major(1); | ||
metaMsg.mutable_model()->mutable_file_format() | ||
->mutable_version()->set_minor(7); | ||
EXPECT_TRUE(msgs::ConvertFuelMetadata(metaMsg, modelConfig)); | ||
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metaMsg.add_authors()->set_name("Foo Bar"); | ||
metaMsg.mutable_authors(0)->set_email("[email protected]"); | ||
metaMsg.add_dependencies()->set_uri("model://some_model"); | ||
EXPECT_TRUE(msgs::ConvertFuelMetadata(metaMsg, modelConfig)); | ||
EXPECT_EQ(modelConfigInput, modelConfig); | ||
} | ||
} | ||
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///////////////////////////////////////////////// | ||
TEST(UtilityTest, SetVector3) | ||
{ | ||
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