server_test.cpp
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00001 /*
00002  * Copyright (c) 2011, 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 the 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 
00031 #include <ros/ros.h>
00032 
00033 #include <gtest/gtest.h>
00034 
00035 #include <interactive_markers/interactive_marker_server.h>
00036 
00037 TEST(InteractiveMarkerServer, addRemove)
00038 {
00039   // create an interactive marker server on the topic namespace simple_marker
00040   interactive_markers::InteractiveMarkerServer server("im_server_test");
00041 
00042   // create an interactive marker for our server
00043   visualization_msgs::InteractiveMarker int_marker;
00044   int_marker.name = "marker1";
00045 
00046   // create a valid pose
00047   geometry_msgs::Pose pose;
00048   pose.orientation.w = 1.0;
00049 
00050   //insert, apply, erase, apply
00051   server.insert(int_marker);
00052   ASSERT_TRUE( server.get("marker1", int_marker) );
00053 
00054   server.applyChanges();
00055   ASSERT_TRUE( server.get("marker1", int_marker) );
00056 
00057   server.erase( "marker1" );
00058   ASSERT_FALSE( server.get("marker1", int_marker) );
00059 
00060   server.applyChanges();
00061   ASSERT_FALSE( server.get("marker1", int_marker) );
00062 
00063 
00064   //insert, erase, apply
00065   server.insert(int_marker);
00066   ASSERT_TRUE( server.get("marker1", int_marker) );
00067 
00068   server.erase( "marker1" );
00069   ASSERT_FALSE( server.get("marker1", int_marker) );
00070 
00071   server.applyChanges();
00072   ASSERT_FALSE( server.get("marker1", int_marker) );
00073 
00074   //insert, apply, clear, apply
00075   server.insert(int_marker);
00076   ASSERT_TRUE( server.get("marker1", int_marker) );
00077 
00078   server.applyChanges();
00079   ASSERT_TRUE( server.get("marker1", int_marker) );
00080 
00081   server.clear();
00082   ASSERT_FALSE( server.get("marker1", int_marker) );
00083 
00084   server.applyChanges();
00085   ASSERT_FALSE( server.get("marker1", int_marker) );
00086 
00087   //insert, setPose, apply, clear, apply
00088   server.insert(int_marker);
00089   ASSERT_TRUE( server.setPose("marker1", pose) );
00090 
00091   server.applyChanges();
00092   server.clear();
00093   ASSERT_FALSE( server.get("marker1", int_marker) );
00094 
00095   server.applyChanges();
00096 
00097   //avoid subscriber destruction warning
00098   usleep(1000);
00099 }
00100 
00101 
00102 // Run all the tests that were declared with TEST()
00103 int main(int argc, char **argv)
00104 {
00105   ros::init(argc, argv, "im_server_test");
00106   testing::InitGoogleTest(&argc, argv);
00107   return RUN_ALL_TESTS();
00108 }


interactive_markers
Author(s): David Gossow
autogenerated on Sun Feb 3 2019 03:43:04