selftest_rostest.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 * 
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 * 
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 * 
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 * 
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 #include "ros/ros.h"
00036 #include "diagnostic_msgs/SelfTest.h"
00037 
00038 #include <gtest/gtest.h>
00039 #include <string>
00040 
00041 TEST(SelfTest, runSelfTest)
00042 {
00043   ros::NodeHandle nh;
00044   ros::NodeHandle nh_private("~");
00045 
00046   std::string node_to_test;
00047   double max_delay;
00048   nh_private.param("node_to_test", node_to_test, std::string());
00049   nh_private.param("max_delay", max_delay, 60.);
00050   ASSERT_FALSE(node_to_test.empty()) << "selftest_rostest needs the \"node_to_test\" parameter.";
00051     
00052   std::string service_name = node_to_test+"/self_test";
00053   ros::service::waitForService(service_name, max_delay);
00054 
00055   diagnostic_msgs::SelfTest srv;
00056   
00057   if (nh.serviceClient<diagnostic_msgs::SelfTest>(service_name).call(srv))
00058   {
00059     diagnostic_msgs::SelfTest::Response &res = srv.response;
00060     
00061     std::string passfail;
00062 
00063     if (res.passed)
00064       passfail = "PASSED";
00065     else
00066       passfail = "FAILED";
00067     
00068     EXPECT_TRUE(res.passed) << "Overall self-test FAILED.";
00069 
00070     printf("Self test %s for device with id: [%s]\n", passfail.c_str(), res.id.c_str());
00071 
00072     for (size_t i = 0; i < res.status.size(); i++)
00073     {
00074       printf("%2d) %s\n", ((int) i + 1), res.status[i].name.c_str());
00075       if (res.status[i].level == 0)
00076         printf("     [OK]: ");
00077       else if (res.status[i].level == 1)
00078         printf("     [WARNING]: ");
00079       else
00080         printf("     [ERROR]: ");
00081 
00082       printf("%s\n", res.status[i].message.c_str());
00083     
00084       EXPECT_EQ(0, res.status[i].level) << res.status[i].name << " did not PASS: " << res.status[i].message;
00085 
00086       for (size_t j = 0; j < res.status[i].values.size(); j++)
00087         printf("      [%s] %s\n", res.status[i].values[j].key.c_str(), res.status[i].values[j].value.c_str());
00088 
00089       printf("\n");
00090     }
00091   }
00092   else
00093   {
00094     FAIL() << "Unable to trigger self-test.";
00095     printf("Failed to call service.\n");
00096   }
00097 }
00098 
00099 int main(int argc, char **argv)
00100 {
00101   ros::init(argc, argv, "selftest_nodetest");
00102   testing::InitGoogleTest(&argc, argv);
00103   return RUN_ALL_TESTS();
00104 }
00105 


self_test
Author(s): Kevin Watts, Brice Rebsamen , Jeremy Leibs and Blaise Gassend
autogenerated on Fri Aug 28 2015 10:30:02