service_adv_multiple.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Josh Faust */

/*
 * Advertise a service twice, making sure the first succeeds and second fails
 */

#include <string>

#include <gtest/gtest.h>

#include "ros/ros.h"
#include "ros/service.h"
#include <test_roscpp/TestStringString.h>

bool srvCallback(test_roscpp::TestStringString::Request  &req,
                 test_roscpp::TestStringString::Response &res)
{
  return true;
}

TEST(SrvCall, advertiseMultiple)
{
  ros::NodeHandle nh;
  ros::ServiceServer srv = nh.advertiseService("service_adv", srvCallback);
  ASSERT_TRUE(srv);
  ros::ServiceServer srv2 = nh.advertiseService("service_adv", srvCallback);
  ASSERT_FALSE(srv2);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "service_adv_multiple");
  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}