work on tests

test/CMakeLists.txt

@@ -8,16 +8,22 @@ add_subdirectory(gtest)
 #                                                         #
 ###########################################################
 
+# capture_inertial_kinematics test
 wolf_add_gtest(gtest_capture_inertial_kinematics gtest_capture_inertial_kinematics.cpp)
 
+# capture_leg_odom test
 wolf_add_gtest(gtest_capture_leg_odom gtest_capture_leg_odom.cpp)
 
-wolf_add_gtest(gtest_feature_inertial_kinematics gtest_feature_inertial_kinematics.cpp)
-
+# factor_inertial_kinematics test
 wolf_add_gtest(gtest_factor_inertial_kinematics gtest_factor_inertial_kinematics.cpp)
 
+# factor_force_torque test
 wolf_add_gtest(gtest_factor_force_torque gtest_factor_force_torque.cpp)
 
+# feature_inertial_kinematics test
+wolf_add_gtest(gtest_feature_inertial_kinematics gtest_feature_inertial_kinematics.cpp)
+
+# force_torque_delta_tools test
 wolf_add_gtest(gtest_force_torque_delta_tools gtest_force_torque_delta_tools.cpp)
 
 # TODO: revive those
@@ -25,9 +31,15 @@ wolf_add_gtest(gtest_force_torque_delta_tools gtest_force_torque_delta_tools.cpp
 # wolf_add_gtest(gtest_processor_inertial_kinematics gtest_processor_inertial_kinematics.cpp)
 # wolf_add_gtest(gtest_processor_force_torque_preint gtest_processor_force_torque_preint.cpp)
 
+# processor_point_feet_nomove test
 wolf_add_gtest(gtest_processor_point_feet_nomove gtest_processor_point_feet_nomove.cpp)
 
+# schema test
+wolf_add_gtest(gtest_schema gtest_schema.cpp)
+
+# sensor_force_torque test
 wolf_add_gtest(gtest_sensor_force_torque gtest_sensor_force_torque.cpp)
 
+# sensor_inertial_kinematics test
 wolf_add_gtest(gtest_sensor_inertial_kinematics gtest_sensor_inertial_kinematics.cpp)
 

test/gtest_schema.cpp

+// WOLF - Copyright (C) 2020,2021,2022,2023
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "bodydynamics/common/bodydynamics.h"
+#include "core/utils/utils_gtest.h"
+#include "core/map/map_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/solver/solver_manager.h"
+#include "core/processor/processor_base.h"
+#include "core/tree_manager/tree_manager_base.h"
+
+#include "yaml-schema-cpp/yaml_schema.hpp"
+
+using namespace wolf;
+using namespace yaml_schema_cpp;
+using namespace Eigen;
+
+std::string wolf_schema_dir = _WOLF_SCHEMA_DIR;
+std::string plugin_dir      = _WOLF_BODYDYNAMICS_CODE_DIR;
+
+// just force the plugin .so library to be loaded
+WOLF_LOAD_CORE;
+WOLF_LOAD_BODYDYNAMICS;
+
+bool existsSchema(std::string name_schema)
+{
+    // Check extension
+    if (filesystem::extension(name_schema).empty())
+    {
+        name_schema += SCHEMA_EXTENSION;
+    }
+    else if (filesystem::extension(name_schema) != SCHEMA_EXTENSION)
+    {
+        WOLF_ERROR("Wrong schema file extension ", name_schema, ", it should be '", SCHEMA_EXTENSION, "'");
+        return false;
+    }
+
+    // Find schema file
+    try
+    {
+        filesystem::path path_schema = findFileRecursive(name_schema, {plugin_dir + "/schema", wolf_schema_dir});
+    }
+    catch (const std::exception& e)
+    {
+        WOLF_ERROR(name_schema, " was NOT found.");
+        return false;
+    }
+    WOLF_INFO(name_schema, " found!");
+    return true;
+}
+
+TEST(Schema, check_schema_existence)
+{
+    // Check that there is an schema file for each of the registered creators of all Factories from yaml nodes/files
+    // (all except FactoryStateBlock)
+
+    // FactoryLandmark
+    auto registered_landmarks = FactoryLandmark::getRegisteredKeys();
+    for (auto key : registered_landmarks)
+    {
+        EXPECT_TRUE(existsSchema(key));
+    }
+
+    // FactoryMapNode
+    auto registered_maps = FactoryMapNode::getRegisteredKeys();
+    for (auto key : registered_maps)
+    {
+        EXPECT_TRUE(existsSchema(key));
+    }
+
+    // FactoryProcessorNode
+    auto registered_processors = FactoryProcessorNode::getRegisteredKeys();
+    for (auto key : registered_processors)
+    {
+        EXPECT_TRUE(existsSchema(key));
+    }
+
+    // FactorySensorNode
+    auto registered_sensors = FactorySensorNode::getRegisteredKeys();
+    for (auto key : registered_sensors)
+    {
+        EXPECT_TRUE(existsSchema(key));
+    }
+
+    // FactorySolverNode
+    auto registered_solvers = FactorySolverNode::getRegisteredKeys();
+    for (auto key : registered_solvers)
+    {
+        EXPECT_TRUE(existsSchema(key));
+    }
+
+    // FactoryTreeManagerNode
+    auto registered_tree_managers = FactoryTreeManagerNode::getRegisteredKeys();
+    for (auto key : registered_tree_managers)
+    {
+        EXPECT_TRUE(existsSchema(key));
+    }
+}
+
+TEST(Schema, validate_all_schemas)
+{
+    ASSERT_TRUE(validateAllSchemas({plugin_dir + "/schema", wolf_schema_dir}, true));
+}
+
+int main(int argc, char** argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}