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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 name remapping. Assumes the parameter "test" is remapped to "test_remap", and the node name is remapped to "name_remapped" 00034 */ 00035 00036 #include <string> 00037 #include <sstream> 00038 #include <fstream> 00039 00040 #include <gtest/gtest.h> 00041 00042 #include <time.h> 00043 #include <stdlib.h> 00044 00045 #include "ros/ros.h" 00046 #include <ros/param.h> 00047 #include <ros/names.h> 00048 00049 TEST(roscpp, parameterRemapping) 00050 { 00051 std::string param; 00052 ASSERT_TRUE(ros::param::get("mapfrom", param)); 00053 ASSERT_STREQ(ros::names::resolve("mapfrom").c_str(), "/mapto"); 00054 00055 ASSERT_TRUE(ros::param::get("/mapto", param)); 00056 ASSERT_STREQ(ros::names::resolve("/mapfrom").c_str(), "/mapto"); 00057 } 00058 00059 TEST(roscpp, nodeNameRemapping) 00060 { 00061 std::string node_name = ros::this_node::getName(); 00062 ASSERT_STREQ(node_name.c_str(), "/name_remapped"); 00063 } 00064 00065 TEST(roscpp, cleanName) 00066 { 00067 ASSERT_STREQ(ros::names::clean("////asdf///").c_str(), "/asdf"); 00068 ASSERT_STREQ(ros::names::clean("////asdf///jioweioj").c_str(), "/asdf/jioweioj"); 00069 ASSERT_STREQ(ros::names::clean("////asdf///jioweioj/").c_str(), "/asdf/jioweioj"); 00070 } 00071 00072 TEST(RoscppHandles, nodeHandleNameRemapping) 00073 { 00074 ros::M_string remap; 00075 remap["a"] = "b"; 00076 remap["/a/a"] = "/a/b"; 00077 remap["c"] = "/a/c"; 00078 remap["d/d"] = "/c/e"; 00079 remap["d/e"] = "c/f"; 00080 ros::NodeHandle n("", remap); 00081 00082 EXPECT_STREQ(n.resolveName("a").c_str(), "/b"); 00083 EXPECT_STREQ(n.resolveName("/a/a").c_str(), "/a/b"); 00084 EXPECT_STREQ(n.resolveName("c").c_str(), "/a/c"); 00085 EXPECT_STREQ(n.resolveName("d/d").c_str(), "/c/e"); 00086 00087 ros::NodeHandle n2("z", remap); 00088 EXPECT_STREQ(n2.resolveName("a").c_str(), "/z/b"); 00089 EXPECT_STREQ(n2.resolveName("/a/a").c_str(), "/a/b"); 00090 EXPECT_STREQ(n2.resolveName("c").c_str(), "/a/c"); 00091 EXPECT_STREQ(n2.resolveName("d/d").c_str(), "/c/e"); 00092 EXPECT_STREQ(n2.resolveName("d/e").c_str(), "/z/c/f"); 00093 } 00094 00095 int 00096 main(int argc, char** argv) 00097 { 00098 testing::InitGoogleTest(&argc, argv); 00099 ros::init( argc, argv, "name_remapping" ); 00100 ros::NodeHandle nh; 00101 00102 return RUN_ALL_TESTS(); 00103 }