get_master_information.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Josh Faust */
00031 
00032 /*
00033  * Test getting various information from the master, like the published topics
00034  */
00035 
00036 #include <string>
00037 #include <sstream>
00038 #include <fstream>
00039 #include <set>
00040 
00041 #include <gtest/gtest.h>
00042 
00043 #include <time.h>
00044 #include <stdlib.h>
00045 
00046 #include "ros/ros.h"
00047 #include "test_roscpp/TestEmpty.h"
00048 
00049 TEST(masterInfo, getPublishedTopics)
00050 {
00051   ros::NodeHandle nh;
00052 
00053   typedef std::set<std::string> S_string;
00054   S_string advertised_topics;
00055   advertised_topics.insert( "/test_topic_1" );
00056   advertised_topics.insert( "/test_topic_2" );
00057   advertised_topics.insert( "/test_topic_3" );
00058   advertised_topics.insert( "/test_topic_4" );
00059   advertised_topics.insert( "/test_topic_5" );
00060   advertised_topics.insert( "/test_topic_6" );
00061   advertised_topics.insert( "/test_topic_7" );
00062   advertised_topics.insert( "/test_topic_8" );
00063 
00064   std::vector<ros::Publisher> pubs;
00065 
00066   S_string::iterator adv_it = advertised_topics.begin();
00067   S_string::iterator adv_end = advertised_topics.end();
00068   for ( ; adv_it != adv_end; ++adv_it )
00069   {
00070     const std::string& topic = *adv_it;
00071     pubs.push_back(nh.advertise<test_roscpp::TestEmpty>( topic, 0 ));
00072   }
00073 
00074   ros::master::V_TopicInfo master_topics;
00075   ros::master::getTopics(master_topics);
00076 
00077   adv_it = advertised_topics.begin();
00078   adv_end = advertised_topics.end();
00079   for ( ; adv_it != adv_end; ++adv_it )
00080   {
00081     const std::string& topic = *adv_it;
00082     bool found = false;
00083 
00084     ros::master::V_TopicInfo::iterator master_it = master_topics.begin();
00085     ros::master::V_TopicInfo::iterator master_end = master_topics.end();
00086     for ( ; master_it != master_end; ++master_it )
00087     {
00088       const ros::master::TopicInfo& info = *master_it;
00089       if ( topic == info.name )
00090       {
00091         found = true;
00092         break;
00093       }
00094     }
00095 
00096     ASSERT_TRUE( found );
00097   }
00098 }
00099 
00100 
00101 int
00102 main(int argc, char** argv)
00103 {
00104   testing::InitGoogleTest(&argc, argv);
00105   ros::init( argc, argv, "get_master_information" );
00106   ros::NodeHandle nh;
00107 
00108   return RUN_ALL_TESTS();
00109 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 03:45:23