Added unit test for new TaskComposerPluginFactory constructor

tesseract-robotics · Sep 22, 2023 · 8940195 · 8940195
1 parent bfc44ea
commit 8940195
Showing 1 changed file with 27 additions and 0 deletions.
diff --git a/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_common/utils.h>
 #include <tesseract_common/types.h>
+#include <tesseract_common/yaml_utils.h>
 
 using namespace tesseract_planning;
 
@@ -157,6 +158,32 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
     TaskComposerPluginFactory check_factory(export_config_path);
     runTaskComposerFactoryTest(check_factory, plugin_config);
   }
+
+  // TaskComposerPluginInfo Constructor
+  {
+    tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
+                                                                                      "task_composer_plugins.yaml");
+
+    YAML::Node plugin_config = YAML::LoadFile(config_path.string());
+    const YAML::Node& plugins = plugin_config[tesseract_common::TaskComposerPluginInfo::CONFIG_KEY];
+    const std::vector<std::string> search_paths = plugins["search_paths"].as<std::vector<std::string>>();
+    const std::vector<std::string> search_libraries = plugins["search_libraries"].as<std::vector<std::string>>();
+
+    tesseract_common::TaskComposerPluginInfo info;
+    info.search_paths.insert(search_paths.begin(), search_paths.end());
+    info.search_libraries.insert(search_libraries.begin(), search_libraries.end());
+    info.task_plugin_infos.plugins = plugins["tasks"]["plugins"].as<tesseract_common::PluginInfoMap>();
+    info.executor_plugin_infos.plugins = plugins["executors"]["plugins"].as<tesseract_common::PluginInfoMap>();
+    info.executor_plugin_infos.default_plugin = plugins["executors"]["default"].as<std::string>();
+
+    TaskComposerPluginFactory factory(info);
+    runTaskComposerFactoryTest(factory, plugin_config);
+
+    auto export_config_path = tesseract_common::fs::path(tesseract_common::getTempPath()) / "task_composer_plugins_"
+                                                                                            "export.yaml";
+    TaskComposerPluginFactory check_factory(export_config_path);
+    runTaskComposerFactoryTest(check_factory, plugin_config);
+  }
 }
 
 TEST(TesseractTaskComposerFactoryUnit, PluginFactorAPIUnit)  // NOLINT