service_call.cpp
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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  * Call a service
00034  */
00035 
00036 #include <string>
00037 
00038 #include <gtest/gtest.h>
00039 
00040 #include "ros/ros.h"
00041 #include "ros/time.h"
00042 #include "ros/service.h"
00043 #include "ros/connection.h"
00044 #include "ros/service_client.h"
00045 #include <test_roscpp/TestStringString.h>
00046 #include <test_roscpp/BadTestStringString.h>
00047 
00048 TEST(SrvCall, callSrv)
00049 {
00050   test_roscpp::TestStringString::Request req;
00051   test_roscpp::TestStringString::Response res;
00052 
00053   req.str = std::string("case_FLIP");
00054 
00055   ASSERT_TRUE(ros::service::waitForService("service_adv"));
00056   ASSERT_TRUE(ros::service::call("service_adv", req, res));
00057 
00058   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
00059 }
00060 
00061 TEST(SrvCall, callSrvMultipleTimes)
00062 {
00063   test_roscpp::TestStringString::Request req;
00064   test_roscpp::TestStringString::Response res;
00065 
00066   req.str = std::string("case_FLIP");
00067 
00068   ASSERT_TRUE(ros::service::waitForService("service_adv"));
00069 
00070   ros::Time start = ros::Time::now();
00071 
00072   for (int i = 0; i < 100; ++i)
00073   {
00074     ASSERT_TRUE(ros::service::call("service_adv", req, res));
00075   }
00076 
00077   ros::Time end = ros::Time::now();
00078   ros::Duration d = end - start;
00079   printf("100 calls took %f secs\n", d.toSec());
00080 
00081   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
00082 }
00083 
00084 TEST(SrvCall, callSrvWithWrongType)
00085 {
00086   test_roscpp::BadTestStringString::Request req;
00087   test_roscpp::BadTestStringString::Response res;
00088 
00089   ASSERT_TRUE(ros::service::waitForService("service_adv"));
00090 
00091   for ( int i = 0; i < 4; ++i )
00092   {
00093     bool call_result = ros::service::call("service_adv", req, res);
00094     ASSERT_FALSE(call_result);
00095   }
00096 }
00097 
00098 TEST(SrvCall, callSrvHandle)
00099 {
00100   test_roscpp::TestStringString::Request req;
00101   test_roscpp::TestStringString::Response res;
00102 
00103   req.str = std::string("case_FLIP");
00104 
00105   std::map<std::string, std::string> header;
00106   header["test1"] = "testing 1";
00107   header["test2"] = "testing 2";
00108   ros::NodeHandle nh;
00109   ros::ServiceClient handle = nh.serviceClient<test_roscpp::TestStringString>("service_adv", false, header);
00110   ASSERT_TRUE(handle.waitForExistence());
00111 
00112   ros::Time start = ros::Time::now();
00113 
00114   for (int i = 0; i < 100; ++i)
00115   {
00116     ASSERT_TRUE(handle.call(req, res));
00117   }
00118 
00119   ros::Time end = ros::Time::now();
00120   ros::Duration d = end - start;
00121   printf("100 calls took %f secs\n", d.toSec());
00122 
00123   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
00124 }
00125 
00126 TEST(SrvCall, callSrvPersistentHandle)
00127 {
00128   test_roscpp::TestStringString::Request req;
00129   test_roscpp::TestStringString::Response res;
00130 
00131   req.str = std::string("case_FLIP");
00132 
00133   ASSERT_TRUE(ros::service::waitForService("service_adv"));
00134 
00135   std::map<std::string, std::string> header;
00136   header["test1"] = "testing 1";
00137   header["test2"] = "testing 2";
00138   ros::NodeHandle nh;
00139   ros::ServiceClient handle = nh.serviceClient<test_roscpp::TestStringString>("service_adv", true, header);
00140 
00141   ros::Time start = ros::Time::now();
00142 
00143   for (int i = 0; i < 10000; ++i)
00144   {
00145     ASSERT_TRUE(handle.call(req, res));
00146   }
00147 
00148   ros::Time end = ros::Time::now();
00149   ros::Duration d = end - start;
00150   printf("10000 calls took %f secs\n", d.toSec());
00151 
00152   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
00153 }
00154 
00155 TEST(SrvCall, callSrvLongRunning)
00156 {
00157   test_roscpp::TestStringString::Request req;
00158   test_roscpp::TestStringString::Response res;
00159 
00160   req.str = std::string("case_FLIP");
00161 
00162   ASSERT_TRUE(ros::service::waitForService("service_adv_long"));
00163   ASSERT_TRUE(ros::service::call("service_adv_long", req, res));
00164 
00165   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
00166 }
00167 
00168 TEST(SrvCall, callSrvWhichUnadvertisesInCallback)
00169 {
00170   test_roscpp::TestStringString::Request req;
00171   test_roscpp::TestStringString::Response res;
00172 
00173   req.str = std::string("case_FLIP");
00174 
00175   ASSERT_TRUE(ros::service::waitForService("service_adv_unadv_in_callback"));
00176   ASSERT_FALSE(ros::service::call("service_adv_unadv_in_callback", req, res));
00177 }
00178 
00179 TEST(SrvCall, handleValid)
00180 {
00181   test_roscpp::TestStringString::Request req;
00182   test_roscpp::TestStringString::Response res;
00183 
00184   req.str = std::string("case_FLIP");
00185 
00186   ASSERT_TRUE(ros::service::waitForService("service_adv"));
00187 
00188   std::map<std::string, std::string> header;
00189   header["test1"] = "testing 1";
00190   header["test2"] = "testing 2";
00191   ros::NodeHandle nh;
00192   ros::ServiceClient handle = nh.serviceClient<test_roscpp::TestStringString>("service_adv", true, header);
00193   ASSERT_TRUE(handle.call(req, res));
00194   ASSERT_TRUE(handle.isValid());
00195   handle.shutdown();
00196   ASSERT_FALSE(handle.isValid());
00197 
00198   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
00199 }
00200 
00201 TEST(SrvCall, waitForServiceTimeout)
00202 {
00203   ros::NodeHandle nh;
00204   ASSERT_FALSE(ros::service::waitForService("iojergoiwjoiewg", 1000));
00205   ASSERT_FALSE(ros::service::waitForService("iojergoiwjoiewg", ros::Duration(1)));
00206 
00207   ros::ServiceClient handle = nh.serviceClient<test_roscpp::TestStringString>("migowiowejowieuhwejg", false);
00208   ASSERT_FALSE(handle.waitForExistence(ros::Duration(1)));
00209 }
00210 
00211 int
00212 main(int argc, char** argv)
00213 {
00214   testing::InitGoogleTest(&argc, argv);
00215 
00216   ros::init(argc, argv, "service_call");
00217   ros::NodeHandle nh;
00218 
00219   int ret = RUN_ALL_TESTS();
00220 
00221 
00222 
00223   return ret;
00224 }
00225 
00226 


test_roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Ken Conley kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:21