service_callback_types.cpp
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00001 
00002 /*
00003  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
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  *   * Redistributions of source code must retain the above copyright notice,
00008  *     this list of conditions and the following disclaimer.
00009  *   * Redistributions in binary form must reproduce the above copyright
00010  *     notice, this list of conditions and the following disclaimer in the
00011  *     documentation and/or other materials provided with the distribution.
00012  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00013  *     contributors may be used to endorse or promote products derived from
00014  *     this software without specific prior written permission.
00015  *
00016  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026  * POSSIBILITY OF SUCH DAMAGE.
00027  */
00028 
00033 /*
00034  * Test compilation of all the different service callback types
00035  */
00036 
00037 #include <gtest/gtest.h>
00038 #include "ros/ros.h"
00039 #include "test_roscpp/TestStringString.h"
00040 
00041 #include <vector>
00042 
00043 bool add(test_roscpp::TestStringString::Request  &req,
00044          test_roscpp::TestStringString::Response &res )
00045 {
00046   return true;
00047 }
00048 
00049 bool add2(ros::ServiceEvent<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response>& event)
00050 {
00051   return true;
00052 }
00053 
00054 bool add3(ros::ServiceEvent<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response>& event, const std::string& bound)
00055 {
00056   return true;
00057 }
00058 
00059 struct A
00060 {
00061   bool add(test_roscpp::TestStringString::Request  &req,
00062            test_roscpp::TestStringString::Response &res )
00063   {
00064     return true;
00065   }
00066 
00067   bool add2(ros::ServiceEvent<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response>& event)
00068   {
00069     return true;
00070   }
00071 
00072   bool add3(ros::ServiceEvent<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response>& event, const std::string& bound)
00073   {
00074     return true;
00075   }
00076 };
00077 
00078 TEST(ServiceCallbackTypes, compile)
00079 {
00080   ros::NodeHandle n;
00081 
00082   std::vector<ros::ServiceServer> srvs;
00083   srvs.push_back(n.advertiseService("add_two_ints", add));
00084   srvs.push_back(n.advertiseService("add_two_ints2", add2));
00085   srvs.push_back(n.advertiseService<ros::ServiceEvent<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response> >("add_two_ints3", boost::bind(add3, _1, std::string("blah"))));
00086 
00087   A a;
00088   srvs.push_back(n.advertiseService("add_two_ints10", &A::add, &a));
00089   srvs.push_back(n.advertiseService("add_two_ints11", &A::add2, &a));
00090   srvs.push_back(n.advertiseService<ros::ServiceEvent<test_roscpp::TestStringString::Request, test_roscpp::TestStringString::Response> >("add_two_ints12", boost::bind(&A::add3, &a, _1, std::string("blah"))));
00091 }
00092 
00093 int main(int argc, char **argv)
00094 {
00095   testing::InitGoogleTest(&argc, argv);
00096 
00097   ros::init( argc, argv, "subscription_callback_types" );
00098   ros::NodeHandle nh;
00099 
00100   return RUN_ALL_TESTS();
00101 }


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