test_shapeshifter.cpp
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00034 
00035 // Bring in my package's API, which is what I'm testing
00036 #include "ros/ros.h"
00037 #include "topic_tools/shape_shifter.h"
00038 #include "std_msgs/String.h"
00039 #include "std_msgs/Int32.h"
00040 
00041 // Bring in gtest
00042 #include <gtest/gtest.h>
00043 
00044 class ShapeShifterSubscriber : public testing::Test
00045 {
00046   public:
00047 
00048   bool success;
00049 
00050   void messageCallbackInt(const topic_tools::ShapeShifter::ConstPtr& msg)
00051   {
00052     try {
00053       std_msgs::Int32::Ptr s = msg->instantiate<std_msgs::Int32>();
00054     } catch (topic_tools::ShapeShifterException& e)
00055     {
00056       success = true;
00057     }
00058   }
00059 
00060   void messageCallbackString(const topic_tools::ShapeShifter::ConstPtr& msg)
00061   {
00062     try {
00063       std_msgs::String::Ptr s = msg->instantiate<std_msgs::String>();
00064       if (s->data == "chatter")
00065         success = true;
00066     } catch (topic_tools::ShapeShifterException& e)
00067     {
00068 
00069     }
00070   }
00071 
00072   void messageCallbackLoopback(const topic_tools::ShapeShifter::ConstPtr& msg)
00073   {
00074     try {
00075       std_msgs::String::Ptr s = msg->instantiate<std_msgs::String>();
00076       printf("Got data: %s", s->data.c_str());
00077       if (s->data == "abc123")
00078         success = true;
00079     } catch (topic_tools::ShapeShifterException& e)
00080     {
00081         printf("Instantiate failed!\n");
00082     }
00083   }
00084   
00085 protected:
00086   ShapeShifterSubscriber() {}
00087 
00088   void SetUp()
00089   {
00090     success = false;
00091   }
00092 
00093   void TearDown()  {}
00094 };
00095 
00096 
00097 TEST_F(ShapeShifterSubscriber, testInstantiateString)
00098 {
00099   ros::NodeHandle nh;
00100   ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("input",1,&ShapeShifterSubscriber::messageCallbackString, (ShapeShifterSubscriber*)this);
00101 
00102   ros::Time t1(ros::Time::now()+ros::Duration(10.0));
00103 
00104   while(ros::Time::now() < t1 && !success)
00105   {
00106     ros::WallDuration(0.01).sleep();
00107     ros::spinOnce();
00108   }
00109 
00110   EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
00111 
00112   if(success)
00113     SUCCEED();
00114   else
00115     FAIL();
00116 }
00117 
00118 TEST_F(ShapeShifterSubscriber, testInstantiateInt)
00119 {
00120   ros::NodeHandle nh;
00121   ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("input",1,&ShapeShifterSubscriber::messageCallbackInt, (ShapeShifterSubscriber*)this);
00122 
00123   ros::Time t1(ros::Time::now()+ros::Duration(10.0));
00124 
00125   while(ros::Time::now() < t1 && !success)
00126   {
00127     ros::WallDuration(0.01).sleep();
00128     ros::spinOnce();
00129   }
00130 
00131   EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
00132 
00133   if(success)
00134     SUCCEED();
00135   else
00136     FAIL();
00137 }
00138 
00139 TEST_F(ShapeShifterSubscriber, testLoopback)
00140 {
00141   ros::NodeHandle nh;
00142   ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("loopback",1,&ShapeShifterSubscriber::messageCallbackLoopback, (ShapeShifterSubscriber*)this);
00143 
00144   ros::Time t1(ros::Time::now()+ros::Duration(10.0));
00145 
00146   ros::Publisher pub = nh.advertise<std_msgs::String>("loopback", 1);
00147   std_msgs::String s;
00148   s.data = "abc123";
00149   pub.publish(s);
00150 
00151   while(ros::Time::now() < t1 && !success)
00152   {
00153     ros::WallDuration(0.01).sleep();
00154     ros::spinOnce();
00155   }
00156 
00157   EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
00158 
00159   if(success)
00160     SUCCEED();
00161   else
00162     FAIL();
00163 }
00164 
00165 int main(int argc, char **argv){
00166     ros::init(argc, argv, "test_shapeshifter");
00167 
00168     testing::InitGoogleTest(&argc, argv);
00169     return RUN_ALL_TESTS();
00170 }


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Fri Aug 28 2015 12:33:48