api_tests.cpp
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00001 
00006 #include <string>
00007 #include <vector>
00008 #include <iterator>
00009 
00010 #include <rtt/os/startstop.h>
00011 
00012 #include <ocl/DeploymentComponent.hpp>
00013 #include <ocl/TaskBrowser.hpp>
00014 #include <ocl/LoggingService.hpp>
00015 #include <rtt/Logger.hpp>
00016 #include <rtt/deployment/ComponentLoader.hpp>
00017 #include <rtt/scripting/Scripting.hpp>
00018 
00019 #include <boost/assign/std/vector.hpp>
00020 using namespace boost::assign;
00021 
00022 #include <gtest/gtest.h>
00023 
00024 boost::shared_ptr<OCL::DeploymentComponent> deployer;
00025 boost::shared_ptr<RTT::Scripting> scripting_service;
00026 
00027 TEST(BasicTest, Import) 
00028 {
00029   // Import rtt_ros plugin
00030   EXPECT_TRUE(RTT::ComponentLoader::Instance()->import("rtt_ros", "" ));
00031   EXPECT_TRUE(RTT::ComponentLoader::Instance()->import("rtt_roscomm", "" ));
00032 }
00033 
00034 TEST(BasicTest, ImportTypekit) 
00035 {
00036   // Import rtt_ros plugin
00037   EXPECT_TRUE(RTT::ComponentLoader::Instance()->import("rtt_std_msgs", "" ));
00038   EXPECT_TRUE(scripting_service->eval("var ConnPolicy float_out = ros.topic(\"float_out\")"));
00039 }
00040 
00041 int main(int argc, char** argv) {
00042   testing::InitGoogleTest(&argc, argv);
00043 
00044   // Initialize Orocos
00045   __os_init(argc, argv);
00046 
00047   deployer = boost::make_shared<OCL::DeploymentComponent>();
00048   scripting_service = deployer->getProvider<RTT::Scripting>("scripting");
00049 
00050   RTT::Logger::log().setStdStream(std::cerr);
00051   RTT::Logger::log().mayLogStdOut(true);
00052   RTT::Logger::log().setLogLevel(RTT::Logger::Debug);
00053   
00054   return RUN_ALL_TESTS();
00055 }
00056 


rtt_roscomm_tests
Author(s): Jonathan Bohren
autogenerated on Wed Sep 16 2015 06:59:43