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00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 00031 #include <ros/ros.h> 00032 00033 #include <gtest/gtest.h> 00034 00035 #include <interactive_markers/interactive_marker_server.h> 00036 00037 TEST(InteractiveMarkerServer, addRemove) 00038 { 00039 // create an interactive marker server on the topic namespace simple_marker 00040 interactive_markers::InteractiveMarkerServer server("simple_marker"); 00041 00042 // create an interactive marker for our server 00043 visualization_msgs::InteractiveMarker int_marker; 00044 int_marker.name = "marker1"; 00045 00046 //insert, apply, erase, apply 00047 server.insert(int_marker); 00048 ASSERT_TRUE( server.get("marker1", int_marker) ); 00049 00050 server.applyChanges(); 00051 ASSERT_TRUE( server.get("marker1", int_marker) ); 00052 00053 server.erase( "marker1" ); 00054 ASSERT_FALSE( server.get("marker1", int_marker) ); 00055 00056 server.applyChanges(); 00057 ASSERT_FALSE( server.get("marker1", int_marker) ); 00058 00059 00060 //insert, erase, apply 00061 server.insert(int_marker); 00062 ASSERT_TRUE( server.get("marker1", int_marker) ); 00063 00064 server.erase( "marker1" ); 00065 ASSERT_FALSE( server.get("marker1", int_marker) ); 00066 00067 server.applyChanges(); 00068 ASSERT_FALSE( server.get("marker1", int_marker) ); 00069 00070 //insert, apply, clear, apply 00071 server.insert(int_marker); 00072 ASSERT_TRUE( server.get("marker1", int_marker) ); 00073 00074 server.applyChanges(); 00075 ASSERT_TRUE( server.get("marker1", int_marker) ); 00076 00077 server.clear(); 00078 ASSERT_FALSE( server.get("marker1", int_marker) ); 00079 00080 server.applyChanges(); 00081 ASSERT_FALSE( server.get("marker1", int_marker) ); 00082 00083 //avoid subscriber destruction warning 00084 usleep(1000); 00085 } 00086 00087 00088 // Run all the tests that were declared with TEST() 00089 int main(int argc, char **argv) 00090 { 00091 ros::init(argc, argv, "simple_marker"); 00092 testing::InitGoogleTest(&argc, argv); 00093 return RUN_ALL_TESTS(); 00094 }