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 * Advertise a service 00034 */ 00035 00036 #include <gtest/gtest.h> 00037 00038 #include "ros/ros.h" 00039 #include <test_roscpp/TestStringString.h> 00040 00041 00042 static int g_argc; 00043 static char** g_argv; 00044 00045 class ServiceAdvertiser : public testing::Test 00046 { 00047 public: 00048 ros::NodeHandle nh_; 00049 ros::ServiceServer srv_; 00050 00051 bool advertised_; 00052 bool failure_; 00053 00054 bool srvCallback(test_roscpp::TestStringString::Request &req, 00055 test_roscpp::TestStringString::Response &res) 00056 { 00057 ROS_INFO("in callback"); 00058 if(!advertised_) 00059 { 00060 ROS_INFO("but not advertised!"); 00061 failure_ = true; 00062 } 00063 return true; 00064 } 00065 protected: 00066 ServiceAdvertiser() {} 00067 void SetUp() 00068 { 00069 failure_ = false; 00070 advertised_ = false; 00071 00072 ASSERT_TRUE(g_argc == 1); 00073 } 00074 00075 bool adv() 00076 { 00077 ROS_INFO("advertising"); 00078 srv_ = nh_.advertiseService("service_adv", &ServiceAdvertiser::srvCallback, this); 00079 ROS_INFO("advertised"); 00080 return srv_; 00081 } 00082 bool unadv() 00083 { 00084 ROS_INFO("unadvertising"); 00085 srv_.shutdown(); 00086 ROS_INFO("unadvertised"); 00087 return true; 00088 } 00089 }; 00090 00091 TEST_F(ServiceAdvertiser, advUnadv) 00092 { 00093 advertised_ = true; 00094 ASSERT_TRUE(adv()); 00095 00096 for(int i=0;i<100;i++) 00097 { 00098 if(advertised_) 00099 { 00100 ASSERT_TRUE(unadv()); 00101 advertised_ = false; 00102 } 00103 else 00104 { 00105 advertised_ = true; 00106 ASSERT_TRUE(adv()); 00107 } 00108 00109 ros::WallDuration(0.01).sleep(); 00110 } 00111 00112 if(failure_) 00113 FAIL(); 00114 else 00115 SUCCEED(); 00116 } 00117 00118 int 00119 main(int argc, char** argv) 00120 { 00121 ros::init(argc, argv, "service_adv_unadv"); 00122 testing::InitGoogleTest(&argc, argv); 00123 g_argc = argc; 00124 g_argv = argv; 00125 return RUN_ALL_TESTS(); 00126 } 00127