00001 /* 00002 * Copyright (c) 2011, 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: Troy Straszheim */ 00031 00032 #include <string> 00033 #include <sstream> 00034 #include <fstream> 00035 00036 #include <gtest/gtest.h> 00037 00038 #include <time.h> 00039 #include <stdlib.h> 00040 00041 #include "ros/ros.h" 00042 #include "std_msgs/String.h" 00043 00044 std::string expect_what, on_topic; 00045 unsigned nseen = 0; 00046 00047 void callback(const std_msgs::String::ConstPtr& msg) 00048 { 00049 EXPECT_STREQ(expect_what.c_str(), msg->data.c_str()); 00050 nseen++; 00051 } 00052 00053 TEST(Expecter, impl) 00054 { 00055 ros::NodeHandle nh; 00056 00057 ros::Subscriber sub = nh.subscribe(on_topic, 0, callback); 00058 00059 ros::Rate loop_rate(10); 00060 00061 while(ros::ok() && nseen == 0) 00062 { 00063 ros::spinOnce(); 00064 loop_rate.sleep(); 00065 } 00066 00067 ASSERT_GT(nseen, 0); 00068 } 00069 00070 int 00071 main(int argc, char** argv) 00072 { 00073 expect_what = argv[1]; 00074 on_topic = argv[2]; 00075 00076 std::cout << "Will look for string \"" << expect_what << "\" on topic " << on_topic << "\n"; 00077 00078 testing::InitGoogleTest(&argc, argv); 00079 ros::init( argc, argv, "params" ); 00080 // ros::NodeHandle nh; 00081 00082 return RUN_ALL_TESTS(); 00083 }