Plugin Unit Test

reach_core/CMakeLists.txt

@@ -111,6 +111,16 @@ add_dependencies(data_loader
   ${catkin_EXPORTED_TARGETS}
 )
 
+##########
+## TEST ##
+##########
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(${PROJECT_NAME}_plugin_utest test/plugin.test test/plugin_utest.cpp)
+  target_link_libraries(${PROJECT_NAME}_plugin_utest ${PROJECT_NAME} ${catkin_LIBRARIES})
+endif()
+
 #############
 ## INSTALL ##
 #############

reach_core/package.xml

@@ -19,6 +19,7 @@
   <depend>tf2_ros</depend>
   <depend>tf2_eigen</depend>
   <depend>visualization_msgs</depend>
+  <test_depend>rosunit</test_depend>
 
   <export>
     <reach_core plugin="${prefix}/plugin_description.xml"/>

reach_core/test/plugin.test

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <test test-name="plugin_utest" pkg="reach_core" type="reach_core_plugin_utest"/>
+</launch>

reach_core/test/plugin_utest.cpp

@@ -0,0 +1,76 @@
+#include <gtest/gtest.h>
+#include <pluginlib/class_loader.h>
+#include <reach_core/plugins/evaluation_base.h>
+#include <reach_core/plugins/ik_solver_base.h>
+#include <reach_core/plugins/reach_display_base.h>
+#include <ros/ros.h>
+
+const static std::string EVAL_PLUGIN_BASE = "reach::plugins::EvaluationBase";
+const static std::string IK_PLUGIN_BASE = "reach::plugins::IKSolverBase";
+const static std::string DISPLAY_PLUGIN_BASE = "reach::plugins::DisplayBase";
+
+template<typename PluginT>
+class PluginTest : public ::testing::Test
+{
+  public:
+  PluginTest()
+    : ::testing::Test()
+    , loader("reach_core", base_class_name)
+  {
+  }
+
+  static const std::string base_class_name;
+  static const unsigned expected_count;
+  pluginlib::ClassLoader<PluginT> loader;
+};
+
+// Evaluation plugins - 1 in reach_core, 3 in moveit_reach_plugins
+template<>
+const std::string PluginTest<reach::plugins::EvaluationBase>::base_class_name = EVAL_PLUGIN_BASE;
+
+template<>
+const unsigned PluginTest<reach::plugins::EvaluationBase>::expected_count = 4;
+
+// IK Solver plugins - 0 in reach_core, 2 in moveit_reach_plugins
+template<>
+const std::string PluginTest<reach::plugins::IKSolverBase>::base_class_name = IK_PLUGIN_BASE;
+
+template<>
+const unsigned PluginTest<reach::plugins::IKSolverBase>::expected_count = 2;
+
+// Display Plugins - 0 in reach_core, 1 in moveit_reach_plugins
+template<>
+const std::string PluginTest<reach::plugins::DisplayBase>::base_class_name = DISPLAY_PLUGIN_BASE;
+
+template<>
+const unsigned PluginTest<reach::plugins::DisplayBase>::expected_count = 1;
+
+// Test Implementations
+using Implementations = ::testing::
+  Types<reach::plugins::EvaluationBase, reach::plugins::IKSolverBase, reach::plugins::DisplayBase>;
+
+TYPED_TEST_CASE(PluginTest, Implementations);
+
+TYPED_TEST(PluginTest, LoadPlugins)
+{
+  std::vector<std::string> declared_classes = this->loader.getDeclaredClasses();
+
+  // Expect the number of declared classes of this type to equal the amount in the map
+  EXPECT_EQ(declared_classes.size(), this->expected_count);
+
+  // Loop over the available classes and attempt to load them
+  for (const std::string &cls : declared_classes)
+  {
+    std::cout << "Attempting to load '" << cls << "' class" << std::endl;
+    boost::shared_ptr<TypeParam> plugin;
+    EXPECT_NO_THROW(plugin = this->loader.createInstance(cls));
+    EXPECT_NE(plugin, nullptr);
+  }
+}
+
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "plugin_utest");
+  return RUN_ALL_TESTS();
+}