name_remapping.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 name remapping.  Assumes the parameter "test" is remapped to "test_remap", and the node name is remapped to "name_remapped"
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 #include <ros/names.h>
00048 
00049 TEST(roscpp, parameterRemapping)
00050 {
00051   std::string param;
00052   ASSERT_TRUE(ros::param::get("mapfrom", param));
00053   ASSERT_STREQ(ros::names::resolve("mapfrom").c_str(), "/mapto");
00054 
00055   ASSERT_TRUE(ros::param::get("/mapto", param));
00056   ASSERT_STREQ(ros::names::resolve("/mapfrom").c_str(), "/mapto");
00057 }
00058 
00059 TEST(roscpp, nodeNameRemapping)
00060 {
00061   std::string node_name = ros::this_node::getName();
00062   ASSERT_STREQ(node_name.c_str(), "/name_remapped");
00063 }
00064 
00065 TEST(roscpp, cleanName)
00066 {
00067   ASSERT_STREQ(ros::names::clean("////asdf///").c_str(), "/asdf");
00068   ASSERT_STREQ(ros::names::clean("////asdf///jioweioj").c_str(), "/asdf/jioweioj");
00069   ASSERT_STREQ(ros::names::clean("////asdf///jioweioj/").c_str(), "/asdf/jioweioj");
00070 }
00071 
00072 TEST(RoscppHandles, nodeHandleNameRemapping)
00073 {
00074   ros::M_string remap;
00075   remap["a"] = "b";
00076   remap["/a/a"] = "/a/b";
00077   remap["c"] = "/a/c";
00078   remap["d/d"] = "/c/e";
00079   remap["d/e"] = "c/f";
00080   ros::NodeHandle n("", remap);
00081 
00082   EXPECT_STREQ(n.resolveName("a").c_str(), "/b");
00083   EXPECT_STREQ(n.resolveName("/a/a").c_str(), "/a/b");
00084   EXPECT_STREQ(n.resolveName("c").c_str(), "/a/c");
00085   EXPECT_STREQ(n.resolveName("d/d").c_str(), "/c/e");
00086 
00087   ros::NodeHandle n2("z", remap);
00088   EXPECT_STREQ(n2.resolveName("a").c_str(), "/z/b");
00089   EXPECT_STREQ(n2.resolveName("/a/a").c_str(), "/a/b");
00090   EXPECT_STREQ(n2.resolveName("c").c_str(), "/a/c");
00091   EXPECT_STREQ(n2.resolveName("d/d").c_str(), "/c/e");
00092   EXPECT_STREQ(n2.resolveName("d/e").c_str(), "/z/c/f");
00093 }
00094 
00095 int
00096 main(int argc, char** argv)
00097 {
00098   testing::InitGoogleTest(&argc, argv);
00099   ros::init( argc, argv, "name_remapping" );
00100   ros::NodeHandle nh;
00101 
00102   return RUN_ALL_TESTS();
00103 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Mon Oct 6 2014 11:47:21