text: /*
   * Copyright 2017 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
   */
  
  #include <string>
  #include <gtest/gtest.h>
  
  #include "sdf/Error.hh"
  #include "sdf/Filesystem.hh"
  #include "sdf/Model.hh"
  #include "sdf/Root.hh"
  #include "sdf/Types.hh"
  #include "sdf/World.hh"
  #include "test_config.h"
  
  /////////////////////////////////////////////////
  TEST(DOMRoot, InvalidSDF)
  {
    const std::string testFile =
      sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
          "empty_invalid.sdf");
  
    sdf::Root root;
    sdf::Errors errors = root.Load(testFile);
    EXPECT_FALSE(errors.empty());
    EXPECT_EQ(sdf::ErrorCode::FILE_READ, errors[0].Code());
  }
  
  /////////////////////////////////////////////////
  TEST(DOMRoot, NoVersion)
  {
    const std::string testFile =
      sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
          "empty_noversion.sdf");
  
    sdf::Root root;
    sdf::Errors errors = root.Load(testFile);
    EXPECT_FALSE(errors.empty());
    EXPECT_EQ(sdf::ErrorCode::FILE_READ, errors[0].Code());
  }
  
  /////////////////////////////////////////////////
  TEST(DOMRoot, Load)
  {
    const std::string testFile =
      sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
          "empty.sdf");
  
    sdf::Root root;
    EXPECT_EQ(0u, root.WorldCount());
    EXPECT_TRUE(root.Load(testFile).empty());
    EXPECT_EQ("1.7", root.Version());
    EXPECT_EQ(1u, root.WorldCount());
    EXPECT_TRUE(root.WorldByIndex(0) != nullptr);
    EXPECT_TRUE(root.WorldByIndex(1) == nullptr);
  
    EXPECT_EQ("default", root.WorldByIndex(0)->Name());
  
    EXPECT_EQ(1u, root.WorldByIndex(0)->ModelCount());
    ASSERT_TRUE(root.WorldByIndex(0)->ModelByIndex(0) != nullptr);
    EXPECT_EQ("ground_plane", root.WorldByIndex(0)->ModelByIndex(0)->Name());
    EXPECT_TRUE(root.WorldByIndex(0)->ModelNameExists("ground_plane"));
  }
  
  /////////////////////////////////////////////////
  TEST(DOMRoot, LoadMultipleModels)
  {
    const std::string testFile =
      sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
          "root_multiple_models.sdf");
  
    sdf::Root root;
    EXPECT_TRUE(root.Load(testFile).empty());
    EXPECT_EQ(3u, root.ModelCount());
  
    EXPECT_EQ("robot1", root.ModelByIndex(0)->Name());
    EXPECT_EQ("robot2", root.ModelByIndex(1)->Name());
    EXPECT_EQ("last_robot", root.ModelByIndex(2)->Name());
  
    EXPECT_FALSE(root.ModelNameExists("robot"));
    EXPECT_TRUE(root.ModelNameExists("robot1"));
    EXPECT_TRUE(root.ModelNameExists("robot2"));
    EXPECT_TRUE(root.ModelNameExists("last_robot"));
  }
  
  /////////////////////////////////////////////////
  TEST(DOMRoot, LoadDuplicateModels)
  {
    const std::string testFile =
      sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
          "root_duplicate_models.sdf");
  
    sdf::Root root;
    sdf::Errors errors = root.Load(testFile);
    EXPECT_FALSE(errors.empty());
    EXPECT_EQ(1u, root.ModelCount());
    EXPECT_EQ("robot1", root.ModelByIndex(0)->Name());
  }
  