server_test.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 the 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 
00031 #include <ros/ros.h>
00032 
00033 #include <gtest/gtest.h>
00034 
00035 #include <interactive_markers/interactive_marker_server.h>
00036 
00037 TEST(InteractiveMarkerServer, addRemove)
00038 {
00039   // create an interactive marker server on the topic namespace simple_marker
00040   interactive_markers::InteractiveMarkerServer server("im_server_test");
00041 
00042   // create an interactive marker for our server
00043   visualization_msgs::InteractiveMarker int_marker;
00044   int_marker.name = "marker1";
00045 
00046   //insert, apply, erase, apply
00047   server.insert(int_marker);
00048   ASSERT_TRUE( server.get("marker1", int_marker) );
00049 
00050   server.applyChanges();
00051   ASSERT_TRUE( server.get("marker1", int_marker) );
00052 
00053   server.erase( "marker1" );
00054   ASSERT_FALSE( server.get("marker1", int_marker) );
00055 
00056   server.applyChanges();
00057   ASSERT_FALSE( server.get("marker1", int_marker) );
00058 
00059 
00060   //insert, erase, apply
00061   server.insert(int_marker);
00062   ASSERT_TRUE( server.get("marker1", int_marker) );
00063 
00064   server.erase( "marker1" );
00065   ASSERT_FALSE( server.get("marker1", int_marker) );
00066 
00067   server.applyChanges();
00068   ASSERT_FALSE( server.get("marker1", int_marker) );
00069 
00070   //insert, apply, clear, apply
00071   server.insert(int_marker);
00072   ASSERT_TRUE( server.get("marker1", int_marker) );
00073 
00074   server.applyChanges();
00075   ASSERT_TRUE( server.get("marker1", int_marker) );
00076 
00077   server.clear();
00078   ASSERT_FALSE( server.get("marker1", int_marker) );
00079 
00080   server.applyChanges();
00081   ASSERT_FALSE( server.get("marker1", int_marker) );
00082 
00083   //avoid subscriber destruction warning
00084   usleep(1000);
00085 }
00086 
00087 
00088 // Run all the tests that were declared with TEST()
00089 int main(int argc, char **argv)
00090 {
00091   ros::init(argc, argv, "im_server_test");
00092   testing::InitGoogleTest(&argc, argv);
00093   return RUN_ALL_TESTS();
00094 }


interactive_markers
Author(s): David Gossow
autogenerated on Mon Oct 6 2014 00:57:29