service_call_expect_b.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Josh Faust */

/*
 * Call a service, expecting a specific value
 */

#include <string>

#include <gtest/gtest.h>

#include "ros/ros.h"
#include "ros/service.h"
#include <test_roscpp/TestStringString.h>

TEST(SrvCall, callSrv)
{
  test_roscpp::TestStringString::Request req;
  test_roscpp::TestStringString::Response res;

  req.str = "nothing";
  ros::NodeHandle nh;

  int param;
  while(!nh.getParam("advertisers_ready", param))
    ros::Duration(0.01).sleep();
  bool call_result = ros::service::call("service_adv", req, res);
  ASSERT_TRUE(call_result);

  ASSERT_STREQ(res.str.c_str(), "B");
}

int
main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);

  ros::init(argc, argv, "service_call_expect_b");
  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}