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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: Brian Gerkey */ 00031 00032 /* 00033 * Test inspection functionality 00034 */ 00035 00036 #include <string> 00037 00038 #include <gtest/gtest.h> 00039 00040 #include <ros/ros.h> 00041 #include <ros/names.h> 00042 #include <test_roscpp/TestArray.h> 00043 #include <test_roscpp/TestStringInt.h> 00044 #include <test_roscpp/TestEmpty.h> 00045 00046 const char* g_node_name = "inspection_test"; 00047 00048 int g_argc; 00049 char* g_argv[8]; 00050 00051 TEST(Inspection, getAdvertisedTopics) 00052 { 00053 ros::NodeHandle nh; 00054 00055 std::vector<std::string> topics; 00056 00057 ros::this_node::getAdvertisedTopics(topics); 00058 // Note that it's 1, not 0, because the rosout appender has already snuck 00059 // in and advertised. 00060 ASSERT_EQ((int)topics.size(),1); 00061 ASSERT_EQ(topics[0], "/rosout"); 00062 00063 { 00064 ros::Publisher pub1 = nh.advertise<test_roscpp::TestArray>("topic",1); 00065 ros::Publisher pub2 = nh.advertise<test_roscpp::TestArray>("ns/topic",1); 00066 ros::Publisher pub3 = nh.advertise<test_roscpp::TestArray>("/global/topic",1); 00067 00068 topics.clear(); 00069 ros::this_node::getAdvertisedTopics(topics); 00070 // Note that it's 4, not 3, because the rosout appender has already snuck 00071 // in and advertised. 00072 ASSERT_EQ((int)topics.size(),4); 00073 00074 // The following tests assume strict ordering of the topics, which is not 00075 // guaranteed by the API. 00076 ASSERT_EQ(topics[0], "/rosout"); 00077 ASSERT_EQ(topics[1], "/topic"); 00078 ASSERT_EQ(topics[2], "/ns/topic"); 00079 ASSERT_EQ(topics[3], "/global/topic"); 00080 } 00081 00082 topics.clear(); 00083 ros::this_node::getAdvertisedTopics(topics); 00084 // Note that it's 1, not 0, because the rosout appender has already snuck 00085 // in and advertised. 00086 ASSERT_EQ((int)topics.size(),1); 00087 ASSERT_EQ(topics[0], "/rosout"); 00088 } 00089 00090 TEST(Inspection, commandLineParsing) 00091 { 00092 ASSERT_EQ(g_argc, 5); 00093 ros::M_string remappings = ros::names::getRemappings(); 00094 00095 ASSERT_STREQ(remappings["/foo"].c_str(), "/bar"); 00096 ASSERT_STREQ(remappings["/baz"].c_str(), "/bang"); 00097 ASSERT_STREQ(remappings["/bomb"].c_str(), "/barn"); 00098 } 00099 00100 int 00101 main(int argc, char** argv) 00102 { 00103 testing::InitGoogleTest(&argc, argv); 00104 00105 g_argc = 8; 00106 00107 g_argv[0] = strdup(argv[0]); 00108 g_argv[1] = strdup("foo:=bar"); 00109 g_argv[2] = strdup("bat"); 00110 g_argv[3] = strdup("baz:=bang"); 00111 g_argv[4] = strdup("boom"); 00112 g_argv[5] = strdup("baz=bomb"); 00113 g_argv[6] = strdup("bomb:=barn"); 00114 g_argv[7] = strdup("--bangbang"); 00115 00116 ros::init( g_argc, g_argv, "inspection" ); 00117 ros::NodeHandle nh; 00118 00119 return RUN_ALL_TESTS(); 00120 }