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* Remove TinyXML dependency in default plugins It was only used to parse a string for urdf parsing. The API however already supports passing in the string. * Add test for display factory - This will be upgraded to tinyxml2 - Make sure that it works correctly * Remove tinyxml in favour of tinyxml2 in rviz_common * Refactoring of display_factory for better readability
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright (c) 2019, Martin Idel | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
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| #include <gmock/gmock.h> | ||
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| #include <memory> | ||
| #include <utility> | ||
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| #include <QString> // NOLINT: cpplint cannot handle include order here | ||
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| #include "../src/rviz_common/display_factory.hpp" | ||
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| using namespace ::testing; // NOLINT use namespace testing to not clutter tests | ||
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| class TestDisplayFactory : public rviz_common::DisplayFactory | ||
| { | ||
| public: | ||
| explicit TestDisplayFactory(QString path_suffix = "/test/resources/plugins_description.xml") | ||
| : rviz_common::DisplayFactory(), path_suffix_(std::move(path_suffix)) | ||
| {} | ||
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| // overwrite getPluginManifestPath to get our own test resource. This method is called in the | ||
| // real method we want to test which uses tinyxml to parse the plugin manifest. | ||
| QString getPluginManifestPath(const QString & class_id) const override | ||
| { | ||
| (void) class_id; | ||
| const auto path_prefix = QString(_TEST_PLUGIN_DESCRIPTIONS); | ||
| return path_prefix + path_suffix_; | ||
| } | ||
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| private: | ||
| QString path_suffix_; | ||
| }; | ||
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| TEST(TestDisplayFactory, getMessageTypes_finds_sensor_msgs_for_fake_camera_display) { | ||
| auto display_factory = std::make_unique<TestDisplayFactory>(); | ||
| const QSet<QString> message_types = display_factory->getMessageTypes("rviz_common_test/Camera"); | ||
| ASSERT_THAT(message_types, Contains("sensor_msgs/msg/Image")); | ||
| ASSERT_THAT(message_types, Contains("sensor_msgs/msg/CompressedImage")); | ||
| } | ||
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| TEST(TestDisplayFactory, getMessageTypes_finds_no_messages_for_fake_grid_display) { | ||
| auto display_factory = std::make_unique<TestDisplayFactory>(); | ||
| const QSet<QString> message_types = display_factory->getMessageTypes("rviz_common_test/Grid"); | ||
| ASSERT_THAT(message_types, IsEmpty()); | ||
| } | ||
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| TEST(TestDisplayFactory, getMessageTypes_finds_no_messages_for_missing_display) { | ||
| auto display_factory = std::make_unique<TestDisplayFactory>(); | ||
| const QSet<QString> message_types = display_factory->getMessageTypes( | ||
| "rviz_common_test/MissingDisplay"); | ||
| ASSERT_THAT(message_types, IsEmpty()); | ||
| } | ||
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| TEST(TestDisplayFactory, getMessageTypes_finds_no_messages_for_xml_with_wrong_root) { | ||
| auto display_factory = | ||
| std::make_unique<TestDisplayFactory>("/test/resources/broken_plugins.xml"); | ||
| const QSet<QString> message_types = display_factory->getMessageTypes("rviz_common_test/Camera"); | ||
| ASSERT_THAT(message_types, IsEmpty()); | ||
| } |
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| <no-library path="rviz_common_test"> | ||
| <class | ||
| name="rviz_common_test/Camera" | ||
| type="rviz_common_test::displays::CameraDisplay" | ||
| base_class_type="rviz_common::Display" | ||
| > | ||
| <description> | ||
| Displays an image from a camera, with the visualized world rendered behind it. <a href="http://www.ros.org/wiki/rviz/DisplayTypes/Camera">More Information</a>. | ||
| </description> | ||
| <message_type>sensor_msgs/msg/Image</message_type> | ||
| <message_type>sensor_msgs/msg/CompressedImage</message_type> | ||
| </class> | ||
| </no-library> |
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