inspection.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       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: Brian Gerkey */

/*
 * Test inspection functionality
 */

#include <string>

#include <gtest/gtest.h>

#include <ros/ros.h>
#include <ros/names.h>
#include <test_roscpp/TestArray.h>
#include <test_roscpp/TestStringInt.h>
#include <test_roscpp/TestEmpty.h>

const char* g_node_name = "inspection_test";

int g_argc;
char* g_argv[8];

TEST(Inspection, getAdvertisedTopics)
{
  ros::NodeHandle nh;

  std::vector<std::string> topics;

  ros::this_node::getAdvertisedTopics(topics);
  // Note that it's 1, not 0, because the rosout appender has already snuck
  // in and advertised.
  ASSERT_EQ((int)topics.size(),1);
  ASSERT_EQ(topics[0], "/rosout");

  {
    ros::Publisher pub1 = nh.advertise<test_roscpp::TestArray>("topic",1);
    ros::Publisher pub2 = nh.advertise<test_roscpp::TestArray>("ns/topic",1);
    ros::Publisher pub3 = nh.advertise<test_roscpp::TestArray>("/global/topic",1);

    topics.clear();
    ros::this_node::getAdvertisedTopics(topics);
    // Note that it's 4, not 3, because the rosout appender has already snuck
    // in and advertised.
    ASSERT_EQ((int)topics.size(),4);

    // The following tests assume strict ordering of the topics, which is not
    // guaranteed by the API.
    ASSERT_EQ(topics[0], "/rosout");
    ASSERT_EQ(topics[1], "/topic");
    ASSERT_EQ(topics[2], "/ns/topic");
    ASSERT_EQ(topics[3], "/global/topic");
  }

  topics.clear();
  ros::this_node::getAdvertisedTopics(topics);
  // Note that it's 1, not 0, because the rosout appender has already snuck
  // in and advertised.
  ASSERT_EQ((int)topics.size(),1);
  ASSERT_EQ(topics[0], "/rosout");
}

TEST(Inspection, commandLineParsing)
{
  ASSERT_EQ(g_argc, 5);
  ros::M_string remappings = ros::names::getRemappings();

  ASSERT_STREQ(remappings["/foo"].c_str(), "/bar");
  ASSERT_STREQ(remappings["/baz"].c_str(), "/bang");
  ASSERT_STREQ(remappings["/bomb"].c_str(), "/barn");
}

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

  g_argc = 8;

  g_argv[0] = strdup(argv[0]);
  g_argv[1] = strdup("foo:=bar");
  g_argv[2] = strdup("bat");
  g_argv[3] = strdup("baz:=bang");
  g_argv[4] = strdup("boom");
  g_argv[5] = strdup("baz=bomb");
  g_argv[6] = strdup("bomb:=barn");
  g_argv[7] = strdup("--bangbang");

  ros::init( g_argc, g_argv, "inspection" );
  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}