namespaces.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 namespaces
00034  */
00035 
00036 #include <string>
00037 #include <sstream>
00038 #include <fstream>
00039 
00040 #include <gtest/gtest.h>
00041 
00042 #include <time.h>
00043 #include <stdlib.h>
00044 
00045 #include <ros/ros.h>
00046 #include <ros/param.h>
00047 
00048 TEST(namespaces, param)
00049 {
00050   std::string param;
00051   ASSERT_TRUE( ros::param::get( "parent", param ) );
00052   ROS_INFO("parent=%s", param.c_str());
00053   ASSERT_EQ(param, ":ROS_NAMESPACE:parent");
00054 }
00055 
00056 TEST(namespaces, localParam)
00057 {
00058   std::string param;
00059   ASSERT_TRUE( ros::param::get( "~/local", param ) );
00060   ROS_INFO("~/local=%s", param.c_str());
00061   ASSERT_EQ(param, ":ROS_NAMESPACE:NODE_NAME:local");
00062 
00063   ros::NodeHandle n("~");
00064   std::string param2;
00065   n.param<std::string>("local", param2, param);
00066   ASSERT_STREQ(param2.c_str(), param.c_str());
00067   ASSERT_STREQ(param2.c_str(), ":ROS_NAMESPACE:NODE_NAME:local");
00068 }
00069 
00070 TEST(namespaces, globalParam)
00071 {
00072   std::string param;
00073   ASSERT_TRUE( ros::param::get( "/global", param ) );
00074   ASSERT_EQ(param, ":global");
00075 }
00076 
00077 TEST(namespaces, otherNamespaceParam)
00078 {
00079   std::string param;
00080   ASSERT_TRUE( ros::param::get( "/other_namespace/param", param ) );
00081   ASSERT_EQ(param, ":other_namespace:param");
00082 }
00083 
00084 TEST(namespaces, name)
00085 {
00086   std::string name = ros::this_node::getName();
00087   ASSERT_EQ(name, "/ROS_NAMESPACE/NODE_NAME");
00088   std::string nspace = ros::this_node::getNamespace();
00089   ASSERT_EQ(nspace, "/ROS_NAMESPACE");
00090 }
00091 
00092 int
00093 main(int argc, char** argv)
00094 {
00095   testing::InitGoogleTest(&argc, argv);
00096   ros::init( argc, argv, "namespaces" );
00097 
00098   return RUN_ALL_TESTS();
00099 }


test_roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Ken Conley kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:21