topic_service_test.cpp
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29 #include <gtest/gtest.h>
30 
31 #include <ros/ros.h>
32 
33 #include <swri_roscpp/TestTopicServiceRequest.h>
34 #include <swri_roscpp/TestTopicServiceResponse.h>
35 
38 
39 namespace swri_roscpp
40 {
41  /*
42  * This class would normally be auto-generated by the add_topic_service_files
43  * CMake macro, but we can't use that in swri_roscpp's own tests because the
44  * .cmake file will not have been generated and installed at the time the
45  * tests are run.
46  */
48  {
49  public:
50  typedef TestTopicServiceResponse Response;
51  typedef TestTopicServiceRequest Request;
52 
53  Request request;
54  Response response;
55  };
56 
57  static const std::string topic_name = "/test_topic_service";
58 
59  static const size_t value_count = 5;
60  static const int test_values[] = {5, 10, 100, 10000, 50000};
61 
62  /*
63  * Class used by the server to respond to service requests
64  */
66  {
67  public:
69  call_count_(0),
70  error_(false),
71  is_running_(true)
72  {}
73 
76  {
77  ROS_INFO("TopicServiceHandler::handleTopicServiceRequest");
78  resp.response_value = req.request_value;
79 
80  if (call_count_ >= value_count || (test_values[call_count_] != req.request_value))
81  {
82  error_ = true;
83  return false;
84  }
85 
86  if (req.request_value == test_values[value_count-1])
87  {
88  is_running_ = false;
89  }
90 
91  call_count_++;
92 
93  return is_running_;
94  }
95 
97  bool error_;
99  };
100 }
101 
102 TEST(TopicServiceClientTests, testTopicServiceClient)
103 {
104  ros::NodeHandle nh("~");
105 
107  client.initialize(nh, swri_roscpp::topic_name, "test_client");
108 
109  ros::Duration one_second(1.0);
110  int checks = 0;
111  // Wait up to 20s for the server to exist (it should be much faster than that)
112  while (!client.exists() && checks < 20)
113  {
114  ROS_INFO("Waiting for server to exist...");
115  one_second.sleep();
116  checks++;
117  }
118  ASSERT_TRUE(client.exists());
119 
121 
122  // Iterate through our tests values and test submitting all of them
123  for (size_t i = 0; i < swri_roscpp::value_count; i++)
124  {
125  srv.request.request_value = swri_roscpp::test_values[i];
126  bool result = client.call(srv);
127 
128  if (i + 1 < swri_roscpp::value_count)
129  {
130  ASSERT_TRUE(result);
131  }
132  else
133  {
134  // The very last value should cause the server to return false
135  ASSERT_FALSE(result);
136  }
137  ASSERT_EQ(swri_roscpp::test_values[i], srv.response.response_value);
138  }
139 }
140 
141 TEST(TopicServiceServerTests, testTopicServiceServer)
142 {
143  ros::NodeHandle nh("~");
145 
147 
148  ROS_INFO("Initializing server.");
149 
150  server.initialize(
151  nh,
154  &handler);
155 
156  ros::Rate rate(50);
158  // Wait up to 20s for the client to complete; it should be much faster than that
159  while (handler.is_running_ && (ros::Time::now() - start) < ros::Duration(20))
160  {
161  // If the server encounters any errors, it will set error_ to true
162  ASSERT_FALSE(handler.error_);
163  ros::spinOnce();
164  rate.sleep();
165  }
166 
167  ROS_INFO("Server is exiting.");
168 }
169 
170 int main(int argc, char** argv)
171 {
172  ros::init(argc, argv, "topic_service_test", ros::init_options::AnonymousName);
173 
174  int retval = 0;
175  ros::start();
176  testing::InitGoogleTest(&argc, argv);
177  retval = RUN_ALL_TESTS();
178  ros::shutdown();
179 
180  return retval;
181 }
TestTopicServiceResponse Response
TestTopicServiceRequest Request
ROSCPP_DECL void start()
void initialize(ros::NodeHandle &nh, const std::string &service, bool(T::*srv_func)(const MReq &, MRes &), T *obj)
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
TEST(TopicServiceClientTests, testTopicServiceClient)
static const size_t value_count
bool handleTopicServiceRequest(const swri_roscpp::TestTopicService::Request &req, swri_roscpp::TestTopicService::Response &resp)
static const std::string topic_name
void initialize(ros::NodeHandle &nh, const std::string &service, const std::string &client_name="")
#define ROS_INFO(...)
static const int test_values[]
bool sleep()
static Time now()
ROSCPP_DECL void shutdown()
int main(int argc, char **argv)
ROSCPP_DECL void spinOnce()


swri_roscpp
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autogenerated on Tue Apr 6 2021 02:50:35