string_msg_expect.cpp

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/* Author: Troy Straszheim */

#include <string>
#include <sstream>
#include <fstream>

#include <gtest/gtest.h>

#include <time.h>
#include <stdlib.h>

#include "ros/ros.h"
#include "std_msgs/String.h"

std::string expect_what, on_topic;
unsigned nseen = 0;

void callback(const std_msgs::String::ConstPtr& msg)
{
  EXPECT_STREQ(expect_what.c_str(), msg->data.c_str());
  nseen++;
}

TEST(Expecter, impl)
{
  ros::NodeHandle nh;

  ros::Subscriber sub = nh.subscribe(on_topic, 0, callback);

  ros::Rate loop_rate(10);

  while(ros::ok() && nseen == 0)
    {
      ros::spinOnce();
      loop_rate.sleep();
    }

  ASSERT_GT(nseen, 0);
}

int
main(int argc, char** argv)
{
  expect_what = argv[1];
  on_topic = argv[2];

  std::cout << "Will look for string \"" << expect_what << "\" on topic " << on_topic << "\n";

  testing::InitGoogleTest(&argc, argv);
  ros::init( argc, argv, "params" );
//  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}