name_remapping.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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/* Author: Josh Faust */
 
/*
 * Test name remapping.  Assumes the parameter "test" is remapped to "test_remap", and the node name is remapped to "name_remapped"
 */
 
#include <string>
#include <sstream>
#include <fstream>
 
#include <gtest/gtest.h>
 
#include <time.h>
#include <stdlib.h>
 
#include "ros/ros.h"
#include <ros/param.h>
#include <ros/names.h>
 
TEST(roscpp, parameterRemapping)
{
  std::string param;
  ASSERT_TRUE(ros::param::get("mapfrom", param));
  ASSERT_STREQ(ros::names::resolve("mapfrom").c_str(), "/mapto");
 
  ASSERT_TRUE(ros::param::get("/mapto", param));
  ASSERT_STREQ(ros::names::resolve("/mapfrom").c_str(), "/mapto");
}
 
TEST(roscpp, nodeNameRemapping)
{
  std::string node_name = ros::this_node::getName();
  ASSERT_STREQ(node_name.c_str(), "/name_remapped");
}
 
TEST(roscpp, cleanName)
{
  ASSERT_STREQ(ros::names::clean("////asdf///").c_str(), "/asdf");
  ASSERT_STREQ(ros::names::clean("////asdf///jioweioj").c_str(), "/asdf/jioweioj");
  ASSERT_STREQ(ros::names::clean("////asdf///jioweioj/").c_str(), "/asdf/jioweioj");
}
 
TEST(RoscppHandles, nodeHandleNameRemapping)
{
  ros::M_string remap;
  remap["a"] = "b";
  remap["/a/a"] = "/a/b";
  remap["c"] = "/a/c";
  remap["d/d"] = "/c/e";
  remap["d/e"] = "c/f";
  ros::NodeHandle n("", remap);
 
  EXPECT_STREQ(n.resolveName("a").c_str(), "/b");
  EXPECT_STREQ(n.resolveName("/a/a").c_str(), "/a/b");
  EXPECT_STREQ(n.resolveName("c").c_str(), "/a/c");
  EXPECT_STREQ(n.resolveName("d/d").c_str(), "/c/e");
 
  ros::NodeHandle n2("z", remap);
  EXPECT_STREQ(n2.resolveName("a").c_str(), "/z/b");
  EXPECT_STREQ(n2.resolveName("/a/a").c_str(), "/a/b");
  EXPECT_STREQ(n2.resolveName("c").c_str(), "/a/c");
  EXPECT_STREQ(n2.resolveName("d/d").c_str(), "/c/e");
  EXPECT_STREQ(n2.resolveName("d/e").c_str(), "/z/c/f");
}
 
int
main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init( argc, argv, "name_remapping" );
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}