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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 }