string_msg_expect.cpp
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00001 /*
00002  * Copyright (c) 2011, 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: Troy Straszheim */
00031 
00032 #include <string>
00033 #include <sstream>
00034 #include <fstream>
00035 
00036 #include <gtest/gtest.h>
00037 
00038 #include <time.h>
00039 #include <stdlib.h>
00040 
00041 #include "ros/ros.h"
00042 #include "std_msgs/String.h"
00043 
00044 std::string expect_what, on_topic;
00045 unsigned nseen = 0;
00046 
00047 void callback(const std_msgs::String::ConstPtr& msg)
00048 {
00049   EXPECT_STREQ(expect_what.c_str(), msg->data.c_str());
00050   nseen++;
00051 }
00052 
00053 TEST(Expecter, impl)
00054 {
00055   ros::NodeHandle nh;
00056 
00057   ros::Subscriber sub = nh.subscribe(on_topic, 0, callback);
00058 
00059   ros::Rate loop_rate(10);
00060 
00061   while(ros::ok() && nseen == 0)
00062     {
00063       ros::spinOnce();
00064       loop_rate.sleep();
00065     }
00066 
00067   ASSERT_GT(nseen, 0);
00068 }
00069 
00070 int
00071 main(int argc, char** argv)
00072 {
00073   expect_what = argv[1];
00074   on_topic = argv[2];
00075 
00076   std::cout << "Will look for string \"" << expect_what << "\" on topic " << on_topic << "\n";
00077 
00078   testing::InitGoogleTest(&argc, argv);
00079   ros::init( argc, argv, "params" );
00080 //  ros::NodeHandle nh;
00081 
00082   return RUN_ALL_TESTS();
00083 }


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