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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 * Test getting various information from the master, like the published topics 00034 */ 00035 00036 #include <string> 00037 #include <sstream> 00038 #include <fstream> 00039 #include <set> 00040 00041 #include <gtest/gtest.h> 00042 00043 #include <time.h> 00044 #include <stdlib.h> 00045 00046 #include "ros/ros.h" 00047 #include "test_roscpp/TestEmpty.h" 00048 00049 TEST(masterInfo, getPublishedTopics) 00050 { 00051 ros::NodeHandle nh; 00052 00053 typedef std::set<std::string> S_string; 00054 S_string advertised_topics; 00055 advertised_topics.insert( "/test_topic_1" ); 00056 advertised_topics.insert( "/test_topic_2" ); 00057 advertised_topics.insert( "/test_topic_3" ); 00058 advertised_topics.insert( "/test_topic_4" ); 00059 advertised_topics.insert( "/test_topic_5" ); 00060 advertised_topics.insert( "/test_topic_6" ); 00061 advertised_topics.insert( "/test_topic_7" ); 00062 advertised_topics.insert( "/test_topic_8" ); 00063 00064 std::vector<ros::Publisher> pubs; 00065 00066 S_string::iterator adv_it = advertised_topics.begin(); 00067 S_string::iterator adv_end = advertised_topics.end(); 00068 for ( ; adv_it != adv_end; ++adv_it ) 00069 { 00070 const std::string& topic = *adv_it; 00071 pubs.push_back(nh.advertise<test_roscpp::TestEmpty>( topic, 0 )); 00072 } 00073 00074 ros::master::V_TopicInfo master_topics; 00075 ros::master::getTopics(master_topics); 00076 00077 adv_it = advertised_topics.begin(); 00078 adv_end = advertised_topics.end(); 00079 for ( ; adv_it != adv_end; ++adv_it ) 00080 { 00081 const std::string& topic = *adv_it; 00082 bool found = false; 00083 00084 ros::master::V_TopicInfo::iterator master_it = master_topics.begin(); 00085 ros::master::V_TopicInfo::iterator master_end = master_topics.end(); 00086 for ( ; master_it != master_end; ++master_it ) 00087 { 00088 const ros::master::TopicInfo& info = *master_it; 00089 if ( topic == info.name ) 00090 { 00091 found = true; 00092 break; 00093 } 00094 } 00095 00096 ASSERT_TRUE( found ); 00097 } 00098 } 00099 00100 00101 int 00102 main(int argc, char** argv) 00103 { 00104 testing::InitGoogleTest(&argc, argv); 00105 ros::init( argc, argv, "get_master_information" ); 00106 ros::NodeHandle nh; 00107 00108 return RUN_ALL_TESTS(); 00109 }