Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix test failures due to recent changes in SDFormat #1023

Merged
merged 1 commit into from
Sep 13, 2021
Merged

Fix test failures due to recent changes in SDFormat #1023

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
67 changes: 53 additions & 14 deletions src/SdfGenerator_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,17 +48,22 @@ using namespace gazebo;

/////////////////////////////////////////////////
/// \breif Checks if elemA is a subset of elemB
static bool isSubset(const sdf::ElementPtr &_elemA,
static testing::AssertionResult isSubset(const sdf::ElementPtr &_elemA,
const sdf::ElementPtr &_elemB)
{
if (_elemA->GetName() != _elemB->GetName())
{
return false;
return testing::AssertionFailure()
<< "Mismatch in element name: '" << _elemA->GetName() << "' vs '"
<< _elemB->GetName() << "'";
}

if (_elemA->GetAttributeCount() != _elemB->GetAttributeCount())
{
return false;
return testing::AssertionFailure()
<< "Mismatch in attribute count for " << _elemA->GetName() << ": "
<< _elemA->GetAttributeCount() << " vs "
<< _elemB->GetAttributeCount();
}

// Compare attributes
Expand All @@ -68,11 +73,17 @@ static bool isSubset(const sdf::ElementPtr &_elemA,
sdf::ParamPtr attrB = _elemB->GetAttribute(attrA->GetKey());
if (attrA->GetTypeName() != attrB->GetTypeName())
{
return false;
return testing::AssertionFailure()
<< "Mismatch in attribute type for " << _elemA->GetName() << "/[@"
<< attrA->GetKey() << "]: '" << attrA->GetTypeName() << "' vs '"
<< attrB->GetTypeName() << "'";
}
if (attrA->GetAsString() != attrB->GetAsString())
{
return false;
return testing::AssertionFailure()
<< "Mismatch in attribute as string for " << _elemA->GetName()
<< "/[@" << attrA->GetKey() << "]: '" << attrA->GetAsString()
<< "' vs '" << attrB->GetAsString() << "'";
}
}
// Compare values
Expand All @@ -82,11 +93,35 @@ static bool isSubset(const sdf::ElementPtr &_elemA,
{
sdf::ParamPtr valB = _elemB->GetValue();
if (nullptr == valB)
return false;
{
return testing::AssertionFailure()
<< "Value of " << _elemB->GetName() << " null";
}
if (valA->GetTypeName() != valB->GetTypeName())
return false;
if (valA->GetAsString() != valB->GetAsString())
return false;
{
return testing::AssertionFailure()
<< "Mismatch in value type for " << _elemA->GetName() << ": '"
<< valA->GetTypeName() << "' vs '" << valB->GetTypeName() << "'";
}
if (valA->GetTypeName() == "pose")
{
math::Pose3d poseA, poseB;
valA->Get(poseA);
valA->Get(poseB);

if (poseA != poseB)
{
return testing::AssertionFailure()
<< "Mismatch in value as Pose: '" << poseA << "' vs '" << poseB
<< "'";
}
}
else if (valA->GetAsString() != valB->GetAsString())
{
return testing::AssertionFailure()
<< "Mismatch in value as string: '" << valA->GetAsString()
<< "' vs '" << valB->GetAsString() << "'";
}
}
}

Expand All @@ -111,10 +146,14 @@ static bool isSubset(const sdf::ElementPtr &_elemA,
}

if (!result)
return false;
{
return testing::AssertionFailure()
<< "No matching child element in element B for child element '"
<< childElemA->GetName() << "' in element A";
}
}

return true;
return testing::AssertionSuccess();
}

/////////////////////////////////////////////////
Expand All @@ -123,15 +162,15 @@ TEST(CompareElements, CompareWithDuplicateElements)
const std::string m1Sdf = R"(
<sdf version="1.7">
<model name="M1">
<pose>0 0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
</model>
</sdf>
)";
const std::string m1CompTestSdf = R"(
<sdf version="1.7">
<model name="M1">
<pose>0 0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
</model>
</sdf>
)";
Expand Down