service_call_expect_b.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, 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 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 /* Author: Josh Faust */ 00031 00032 /* 00033 * Call a service, expecting a specific value 00034 */ 00035 00036 #include <string> 00037 00038 #include <gtest/gtest.h> 00039 00040 #include "ros/ros.h" 00041 #include "ros/service.h" 00042 #include <test_roscpp/TestStringString.h> 00043 00044 TEST(SrvCall, callSrv) 00045 { 00046 test_roscpp::TestStringString::Request req; 00047 test_roscpp::TestStringString::Response res; 00048 00049 req.str = "nothing"; 00050 ros::NodeHandle nh; 00051 00052 int param; 00053 while(!nh.getParam("advertisers_ready", param)) 00054 ros::Duration(0.01).sleep(); 00055 bool call_result = ros::service::call("service_adv", req, res); 00056 ASSERT_TRUE(call_result); 00057 00058 ASSERT_STREQ(res.str.c_str(), "B"); 00059 } 00060 00061 int 00062 main(int argc, char** argv) 00063 { 00064 testing::InitGoogleTest(&argc, argv); 00065 00066 ros::init(argc, argv, "service_call_expect_b"); 00067 ros::NodeHandle nh; 00068 00069 return RUN_ALL_TESTS(); 00070 } 00071 00072