service_call_expect_b.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: Josh Faust */
00031 
00032 /*
00033  * Call a service, expecting a specific value
00034  */
00035 
00036 #include <string>
00037 
00038 #include <gtest/gtest.h>
00039 
00040 #include "ros/ros.h"
00041 #include "ros/service.h"
00042 #include <test_roscpp/TestStringString.h>
00043 
00044 TEST(SrvCall, callSrv)
00045 {
00046   test_roscpp::TestStringString::Request req;
00047   test_roscpp::TestStringString::Response res;
00048 
00049   req.str = "nothing";
00050   ros::NodeHandle nh;
00051 
00052   int param;
00053   while(!nh.getParam("advertisers_ready", param))
00054     ros::Duration(0.01).sleep();
00055   bool call_result = ros::service::call("service_adv", req, res);
00056   ASSERT_TRUE(call_result);
00057 
00058   ASSERT_STREQ(res.str.c_str(), "B");
00059 }
00060 
00061 int
00062 main(int argc, char** argv)
00063 {
00064   testing::InitGoogleTest(&argc, argv);
00065 
00066   ros::init(argc, argv, "service_call_expect_b");
00067   ros::NodeHandle nh;
00068 
00069   return RUN_ALL_TESTS();
00070 }
00071 
00072 


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