| 31 | 31 |
#include <string>
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| 32 | 32 |
#include <vector>
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| 33 | 33 |
#include <stdlib.h>
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|
34 |
#ifndef _WIN32
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| 34 | 35 |
#include <unistd.h>
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|
36 |
#endif
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37 |
#include <boost/filesystem.hpp>
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| 35 | 38 |
#include <boost/thread.hpp>
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| 36 | 39 |
#include <gtest/gtest.h>
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| 37 | 40 |
#include "ros/package.h"
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|
41 |
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|
42 |
#ifdef _WIN32
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|
43 |
int setenv(const char *name, const char *value, int overwrite)
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|
44 |
{
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|
45 |
if(!overwrite)
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|
46 |
{
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|
47 |
size_t envsize = 0;
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|
48 |
errno_t errcode = getenv_s(&envsize, NULL, 0, name);
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|
49 |
if(errcode || envsize)
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|
50 |
return errcode;
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|
51 |
}
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|
52 |
return _putenv_s(name, value);
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|
53 |
}
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|
54 |
#endif
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| 38 | 55 |
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| 39 | 56 |
void string_split(const std::string &s, std::vector<std::string> &t, const std::string &d)
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| 40 | 57 |
{ t.clear();
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|
| 49 | 66 |
t.push_back(s.substr(start));
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| 50 | 67 |
}
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| 51 | 68 |
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| 52 | |
char g_rr_buf[1024];
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|
69 |
std::string g_rr_path;
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| 53 | 70 |
void set_env_vars(void)
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| 54 | 71 |
{
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| 55 | 72 |
// Point ROS_PACKAGE_PATH at the roslib directory, and point
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| 56 | 73 |
// ROS_ROOT into an empty directory.
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| 57 | |
getcwd(g_rr_buf, sizeof(g_rr_buf));
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| 58 | |
setenv("ROS_PACKAGE_PATH", g_rr_buf, 1);
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| 59 | |
strncpy(g_rr_buf+strlen(g_rr_buf), "/tmp.XXXXXX", sizeof(g_rr_buf)-strlen(g_rr_buf)-1);
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| 60 | |
g_rr_buf[sizeof(g_rr_buf)-1] = '\0';
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| 61 | |
mkdtemp(g_rr_buf);
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| 62 | |
setenv("ROS_ROOT", g_rr_buf, 1);
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|
74 |
char rr_buf[1024];
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|
75 |
getcwd(rr_buf, sizeof(rr_buf));
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|
76 |
setenv("ROS_PACKAGE_PATH", rr_buf, 1);
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|
77 |
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|
78 |
boost::filesystem::path temp_path = boost::filesystem::unique_path();
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|
79 |
boost::filesystem::create_directories(temp_path);
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|
80 |
g_rr_path = temp_path.string();
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|
81 |
setenv("ROS_ROOT", g_rr_path.c_str(), 1);
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| 63 | 82 |
}
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| 64 | 83 |
void cleanup_env_vars(void)
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| 65 | 84 |
{
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| 66 | 85 |
// Remove the empty directory that we created in set_env_vars().
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| 67 | |
rmdir(g_rr_buf);
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| 68 | |
memset(g_rr_buf, 0, sizeof(g_rr_buf));
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|
86 |
rmdir(g_rr_path.c_str());
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|
87 |
g_rr_path.clear();
|
| 69 | 88 |
}
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| 70 | 89 |
|
| 71 | 90 |
TEST(roslib, commandListNames)
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|
| 117 | 136 |
for(int i=0;i<100;i++)
|
| 118 | 137 |
{
|
| 119 | 138 |
output = ros::package::command("plugins --attrib=foo roslib");
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|
139 |
#ifndef _WIN32
|
| 120 | 140 |
nanosleep(&ts, NULL);
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|
141 |
#else
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|
142 |
boost::this_thread::sleep(boost::posix_time::milliseconds(1));
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|
143 |
#endif
|
| 121 | 144 |
}
|
| 122 | 145 |
}
|
| 123 | 146 |
|