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 * Check that the master is running 00034 */ 00035 00036 #include <gtest/gtest.h> 00037 00038 #include <time.h> 00039 #include <stdlib.h> 00040 00041 #include "ros/ros.h" 00042 00043 #include "XmlRpc.h" 00044 00045 using namespace XmlRpc; 00046 00047 bool g_should_exist = true; 00048 00049 TEST(CheckMaster, checkMaster) 00050 { 00051 ASSERT_EQ(ros::master::check(), g_should_exist); 00052 } 00053 00054 int main(int argc, char** argv) 00055 { 00056 testing::InitGoogleTest(&argc, argv); 00057 00058 ros::V_string args; 00059 ros::removeROSArgs(argc, argv, args); 00060 00061 if (args.size() != 2) 00062 { 00063 ROS_ERROR("Usage: check_master [yes|no]"); 00064 return 1; 00065 } 00066 00067 if (args[1] == "no") 00068 { 00069 g_should_exist = false; 00070 setenv("ROS_MASTER_URI", "http://invalid_host_name_blahahahahahahahahahahaha:11311", 1); 00071 std::cout << getenv("ROS_MASTER_URI") << std::endl; 00072 } 00073 00074 ros::init(argc, argv, "check_master"); 00075 00076 return RUN_ALL_TESTS(); 00077 }