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00001 /* 00002 * Copyright (c) 2009, 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 serialization templates 00034 */ 00035 00036 #include <gtest/gtest.h> 00037 00038 #include <ros/ros.h> 00039 #include <std_msgs/builtin_bool.h> 00040 #include <std_msgs/builtin_double.h> 00041 #include <std_msgs/builtin_float.h> 00042 #include <std_msgs/builtin_int16.h> 00043 #include <std_msgs/builtin_int32.h> 00044 #include <std_msgs/builtin_int64.h> 00045 #include <std_msgs/builtin_int8.h> 00046 #include <std_msgs/builtin_string.h> 00047 #include <std_msgs/builtin_uint16.h> 00048 #include <std_msgs/builtin_uint32.h> 00049 #include <std_msgs/builtin_uint64.h> 00050 #include <std_msgs/builtin_uint8.h> 00051 00052 TEST(BuiltinTypes, advertise) 00053 { 00054 ros::NodeHandle nh; 00055 nh.advertise<bool>("test_bool", 1); 00056 nh.advertise<double>("test_double", 1); 00057 nh.advertise<float>("test_float", 1); 00058 nh.advertise<int16_t>("test_int16", 1); 00059 nh.advertise<int32_t>("test_int32", 1); 00060 nh.advertise<int64_t>("test_int64", 1); 00061 nh.advertise<int8_t>("test_int8", 1); 00062 nh.advertise<std::string>("test_string", 1); 00063 nh.advertise<uint16_t>("test_uint16", 1); 00064 nh.advertise<uint32_t>("test_uint32", 1); 00065 nh.advertise<uint64_t>("test_uint64", 1); 00066 nh.advertise<uint8_t>("test_uint8", 1); 00067 } 00068 00069 template<typename T> 00070 void callback(const boost::shared_ptr<T const>&) 00071 {} 00072 00073 TEST(BuiltinTypes, subscribe) 00074 { 00075 ros::NodeHandle nh; 00076 nh.subscribe("test_bool", 1, callback<bool>); 00077 nh.subscribe("test_double", 1, callback<double>); 00078 nh.subscribe("test_float", 1, callback<float>); 00079 nh.subscribe("test_int16", 1, callback<int16_t>); 00080 nh.subscribe("test_int32", 1, callback<int32_t>); 00081 nh.subscribe("test_int64", 1, callback<int64_t>); 00082 nh.subscribe("test_int8", 1, callback<int8_t>); 00083 nh.subscribe("test_string", 1, callback<std::string>); 00084 nh.subscribe("test_uint16", 1, callback<uint16_t>); 00085 nh.subscribe("test_uint32", 1, callback<uint32_t>); 00086 nh.subscribe("test_uint64", 1, callback<uint64_t>); 00087 nh.subscribe("test_uint8", 1, callback<uint8_t>); 00088 } 00089 00090 int main(int argc, char** argv) 00091 { 00092 testing::InitGoogleTest(&argc, argv); 00093 ros::init(argc, argv, "builtin_types"); 00094 ros::NodeHandle nh; 00095 00096 return RUN_ALL_TESTS(); 00097 } 00098 00099 00100 00101