00001 /****************************************************************************** 00002 * Copyright (C) 2014 by Ralf Kaestner * 00003 * ralf.kaestner@gmail.com * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the Lesser GNU General Public License as published by* 00007 * the Free Software Foundation; either version 3 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * Lesser GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the Lesser GNU General Public License * 00016 * along with this program. If not, see <http://www.gnu.org/licenses/>. *. 00017 ******************************************************************************/ 00018 00019 #include <gtest/gtest.h> 00020 00021 #include <variant_msgs/Test.h> 00022 00023 #include <variant_topic_tools/DataTypeRegistry.h> 00024 #include <variant_topic_tools/MessageDefinition.h> 00025 00026 using namespace variant_topic_tools; 00027 00028 TEST(MessageDefinition, Parse) { 00029 DataTypeRegistry registry; 00030 00031 MessageDefinition d1 = MessageDefinition::create<variant_msgs::Test>(); 00032 MessageDataType t1 = d1.getMessageDataType(); 00033 MessageType m2("my_msgs/Test", "*", 00034 ros::message_traits::definition<variant_msgs::Test>()); 00035 MessageDefinition d2(m2); 00036 MessageDataType t2 = d2.getMessageDataType(); 00037 00038 EXPECT_TRUE(t1.isValid()); 00039 EXPECT_TRUE(t1[0].isConstant()); 00040 EXPECT_EQ("header", t1[1].getName()); 00041 EXPECT_TRUE(t1[2].isVariable()); 00042 EXPECT_TRUE(t1[2].getType().isBuiltin()); 00043 EXPECT_TRUE(t1[4].getType().isMessage()); 00044 00045 EXPECT_NO_THROW(d1.getField("header")); 00046 EXPECT_NO_THROW(d1.getField("string/data")); 00047 EXPECT_ANY_THROW(d1.getField("string/length")); 00048 EXPECT_TRUE(d1.hasField("byte_constant")); 00049 EXPECT_EQ("std_msgs/Header", d1["header"].getValue().getIdentifier()); 00050 00051 registry.clear(); 00052 } 00053 00054 TEST(MessageDefinition, Load) { 00055 DataTypeRegistry registry; 00056 00057 MessageDefinition d1; 00058 EXPECT_NO_THROW(d1.load("variant_msgs/Test")); 00059 EXPECT_NO_THROW(d1.getField("header")); 00060 EXPECT_NO_THROW(d1.getField("string/data")); 00061 EXPECT_ANY_THROW(d1.getField("string/length")); 00062 EXPECT_TRUE(d1.hasField("byte_constant")); 00063 EXPECT_EQ("std_msgs/Header", d1["header"].getValue().getIdentifier()); 00064 00065 registry.clear(); 00066 }