From 472e4caf5d3f32707e0d45cf7bc78bba6dc1b6ea Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 4 Mar 2014 13:58:21 +0900
Subject: [PATCH] add test code to catch if pkg-config openhrp3.1 does not work
 well, also fixed install process PROJECT_SOURCE_DIR ->
 CMAKE_INSTALL_PREFIX/share/openhrp3

---
 catkin.cmake            |  4 ++-
 test/test_openhrp3.py   | 64 +++++++++++++++++++++++++++++++++++++++++
 test/test_openhrp3.test |  3 ++
 3 files changed, 70 insertions(+), 1 deletion(-)
 create mode 100755 test/test_openhrp3.py
 create mode 100644 test/test_openhrp3.test

diff --git a/catkin.cmake b/catkin.cmake
index 3391d9ac..8d3c9417 100644
--- a/catkin.cmake
+++ b/catkin.cmake
@@ -126,7 +126,8 @@ install(CODE
 
 install(CODE
   "execute_process(COMMAND echo \"fix \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.pc ${CATKIN_DEVEL_PREFIX} -> ${CMAKE_INSTALL_PREFIX}\")
-   execute_process(COMMAND sed -i s@${PROJECT_SOURCE_DIR}@${CMAKE_INSTALL_PREFIX}@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
+   execute_process(COMMAND sed -i s@${CATKIN_DEVEL_PREFIX}@${CMAKE_INSTALL_PREFIX}@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) #
+   execute_process(COMMAND sed -i s@${PROJECT_SOURCE_DIR}@${CMAKE_INSTALL_PREFIX}/share/openhrp3@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
    execute_process(COMMAND sed -i s@{prefix}/bin@{prefix}/lib/openhrp3@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
    execute_process(COMMAND sed -i s@{prefix}/share@{prefix}/share/openhrp3/share@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
 ")
@@ -134,4 +135,5 @@ install(CODE
 ##
 ##
 ##
+add_rostest(test/test_openhrp3.test)
 add_rostest(test/test_modelloader.test)
diff --git a/test/test_openhrp3.py b/test/test_openhrp3.py
new file mode 100755
index 00000000..248b6eec
--- /dev/null
+++ b/test/test_openhrp3.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+
+PKG = 'openhrp3'
+import roslib; roslib.load_manifest(PKG)  # This line is not needed with Catkin.
+
+import os
+import sys
+import unittest
+
+code = """
+#include <hrpModel/Body.h>
+
+int main (int argc, char** argv)
+{
+  hrp::BodyPtr body(new hrp::Body());
+  return 0;
+}
+"""
+from subprocess import call, check_output, Popen, PIPE, STDOUT
+
+## A sample python unit test
+class TestCompile(unittest.TestCase):
+    ## test 1 == 1
+    def test_compile_pkg_config(self):
+        global PID
+        cmd = "pkg-config openhrp3.1 --cflags --libs"
+        print "`"+cmd+"` =",check_output(cmd, shell=True, stderr=STDOUT)
+        ret = call("gcc -o openhrp3-sample-pkg-config /tmp/%d-openhrp3-sample.cpp `%s`"%(PID,cmd), shell=True)
+        self.assertTrue(ret==0)
+
+    def _test_compile_move_ankle(self):
+        cmd1 = "pkg-config openhrp3.1 --cflags --libs"
+        cmd2 = "pkg-config openhrp3.1 --variable=idl_dir"
+        print "`"+cmd1+"` =",check_output(cmd1, shell=True, stderr=STDOUT)
+        print "`"+cmd2+"` =",check_output(cmd2, shell=True, stderr=STDOUT)
+        ret = call("gcc -o move_ankle `%s`/../sample/example/move_ankle/move_ankle.cpp `%s`"%(cmd2,cmd1), shell=True)
+        self.assertTrue(ret==0)
+
+    def test_idl_dir(self):
+        cmd = "pkg-config openhrp3.1 --variable=idl_dir"
+        fname = "OpenHRP/OpenHRPCommon.idl"
+        # check if dil file exists
+        print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname)
+        self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname)))
+
+    def test_sample_pa10(self):
+        cmd = "pkg-config openhrp3.1 --variable=idl_dir"
+        fname = "../sample/model/PA10/pa10.main.wrl"
+        # check if dil file exists
+        print "`"+cmd+"`"+fname+" = "+os.path.join(check_output(cmd, shell=True).rstrip(), fname)
+        self.assertTrue(os.path.exists(os.path.join(check_output(cmd, shell=True).rstrip(), fname)))
+
+#unittest.main()
+if __name__ == '__main__':
+    import rostest
+    global PID
+    PID = os.getpid()
+    f = open("/tmp/%d-openhrp3-sample.cpp"%(PID),'w')
+    f.write(code)
+    f.close()
+    rostest.rosrun(PKG, 'test_openhrp3', TestCompile) 
+
+
+
diff --git a/test/test_openhrp3.test b/test/test_openhrp3.test
new file mode 100644
index 00000000..e763528b
--- /dev/null
+++ b/test/test_openhrp3.test
@@ -0,0 +1,3 @@
+<launch>
+  <test test-name="test_openhrp3" pkg="openhrp3" type="test_openhrp3.py" />
+</launch>