selftest_rostest.cpp
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00034 
00035 #include "ros/ros.h"
00036 #include "diagnostic_msgs/SelfTest.h"
00037 
00038 #include <gtest/gtest.h>
00039 #include <string>
00040 
00041 TEST(SelfTest, runSelfTest)
00042 {
00043   ros::NodeHandle nh;
00044   ros::NodeHandle nh_private("~");
00045 
00046   std::string node_to_test;
00047   double max_delay;
00048   nh_private.param("node_to_test", node_to_test, std::string());
00049   nh_private.param("max_delay", max_delay, 60.);
00050   ASSERT_FALSE(node_to_test.empty()) << "selftest_rostest needs the \"node_to_test\" parameter.";
00051     
00052   std::string service_name = node_to_test+"/self_test";
00053   ros::service::waitForService(service_name, max_delay);
00054 
00055   diagnostic_msgs::SelfTest srv;
00056   
00057   if (nh.serviceClient<diagnostic_msgs::SelfTest>(service_name).call(srv))
00058   {
00059     diagnostic_msgs::SelfTest::Response &res = srv.response;
00060     
00061     std::string passfail;
00062 
00063     if (res.passed)
00064       passfail = "PASSED";
00065     else
00066       passfail = "FAILED";
00067     
00068     EXPECT_TRUE(res.passed) << "Overall self-test FAILED.";
00069 
00070     printf("Self test %s for device with id: [%s]\n", passfail.c_str(), res.id.c_str());
00071 
00072     for (size_t i = 0; i < res.status.size(); i++)
00073     {
00074       printf("%2d) %s\n", ((int) i + 1), res.status[i].name.c_str());
00075       if (res.status[i].level == 0)
00076         printf("     [OK]: ");
00077       else if (res.status[i].level == 1)
00078         printf("     [WARNING]: ");
00079       else
00080         printf("     [ERROR]: ");
00081 
00082       printf("%s\n", res.status[i].message.c_str());
00083     
00084       EXPECT_EQ(0, res.status[i].level) << res.status[i].name << " did not PASS: " << res.status[i].message;
00085 
00086       for (size_t j = 0; j < res.status[i].values.size(); j++)
00087         printf("      [%s] %s\n", res.status[i].values[j].key.c_str(), res.status[i].values[j].value.c_str());
00088 
00089       printf("\n");
00090     }
00091   }
00092   else
00093   {
00094     FAIL() << "Unable to trigger self-test.";
00095     printf("Failed to call service.\n");
00096   }
00097 }
00098 
00099 int main(int argc, char **argv)
00100 {
00101   ros::init(argc, argv, "selftest_nodetest");
00102   testing::InitGoogleTest(&argc, argv);
00103   return RUN_ALL_TESTS();
00104 }
00105 


self_test
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs and Blaise Gassend
autogenerated on Tue Mar 26 2019 03:09:49