server_test.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include <ros/ros.h>
 
#include <gtest/gtest.h>
 
#include <interactive_markers/interactive_marker_server.h>
 
#include <chrono>
#include <thread>
 
TEST(InteractiveMarkerServer, addRemove)
{
  // create an interactive marker server on the topic namespace simple_marker
  interactive_markers::InteractiveMarkerServer server("im_server_test");
 
  // create an interactive marker for our server
  visualization_msgs::InteractiveMarker int_marker;
  int_marker.name = "marker1";
 
  // create a valid pose
  geometry_msgs::Pose pose;
  pose.orientation.w = 1.0;
 
  //insert, apply, erase, apply
  server.insert(int_marker);
  ASSERT_TRUE( server.get("marker1", int_marker) );
 
  server.applyChanges();
  ASSERT_TRUE( server.get("marker1", int_marker) );
 
  ASSERT_TRUE( server.erase( "marker1" ) );
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
  server.applyChanges();
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
 
  //insert, erase, apply
  server.insert(int_marker);
  ASSERT_TRUE( server.get("marker1", int_marker) );
 
  ASSERT_TRUE( server.erase( "marker1" ) );
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
  server.applyChanges();
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
  //insert, apply, clear, apply
  server.insert(int_marker);
  ASSERT_TRUE( server.get("marker1", int_marker) );
 
  server.applyChanges();
  ASSERT_TRUE( server.get("marker1", int_marker) );
 
  server.clear();
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
  server.applyChanges();
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
  //insert, setPose, apply, clear, apply
  server.insert(int_marker);
  ASSERT_TRUE( server.setPose("marker1", pose) );
 
  server.applyChanges();
  server.clear();
  ASSERT_FALSE( server.get("marker1", int_marker) );
 
  server.applyChanges();
 
  // erase unknown marker
  ASSERT_FALSE( server.erase("marker1") );
 
  //avoid subscriber destruction warning
  std::this_thread::sleep_for(std::chrono::microseconds(1000));
}
 
 
// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  ros::init(argc, argv, "im_server_test");
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}