cm_test.cpp
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF Inc nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #include <ros/ros.h>
00031 #include <gtest/gtest.h>
00032 
00033 #include <controller_manager_msgs/LoadController.h>
00034 
00035 using namespace controller_manager_msgs;
00036 
00037 TEST(CMTests, spawnTestGood)
00038 {
00039   ros::NodeHandle nh;
00040   ros::ServiceClient client = nh.serviceClient<LoadController>("/controller_manager/load_controller");
00041   LoadController srv;
00042   srv.request.name = "my_controller";
00043   bool call_success = client.call(srv);
00044   EXPECT_TRUE(call_success);
00045   EXPECT_TRUE(srv.response.ok);
00046 }
00047 
00048 TEST(CMTests, spawnTestUnknown)
00049 {
00050   ros::NodeHandle nh;
00051   ros::ServiceClient client = nh.serviceClient<LoadController>("/controller_manager/load_controller");
00052   LoadController srv;
00053   srv.request.name = "nonexistent_controller";
00054   bool call_success = client.call(srv);
00055   EXPECT_TRUE(call_success);
00056   EXPECT_FALSE(srv.response.ok);
00057 }
00058 
00059 TEST(CMTests, spawnTestMismatch)
00060 {
00061   ros::NodeHandle nh;
00062   ros::ServiceClient client = nh.serviceClient<LoadController>("/controller_manager/load_controller");
00063   LoadController srv;
00064   srv.request.name = "dummy_controller";
00065   bool call_success = client.call(srv);
00066   EXPECT_TRUE(call_success);
00067   EXPECT_FALSE(srv.response.ok);
00068 }
00069 
00070 int main(int argc, char** argv)
00071 {
00072   testing::InitGoogleTest(&argc, argv);
00073   ros::init(argc, argv, "ControllerManagerTestNode");
00074 
00075   ros::AsyncSpinner spinner(1);
00076 
00077   // wait for services
00078   ROS_INFO("Waiting for service");
00079   ros::service::waitForService("/controller_manager/load_controller");
00080   ROS_INFO("Start tests");
00081   spinner.start();
00082   int ret = RUN_ALL_TESTS();
00083   spinner.stop();
00084   ros::shutdown();
00085   return ret;
00086 }


controller_manager_tests
Author(s): Vijay Pradeep
autogenerated on Sat Jun 8 2019 20:09:25