service_adv_multiple.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
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 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/* Author: Josh Faust */
 
/*
 * Advertise a service twice, making sure the first succeeds and second fails
 */
 
#include <string>
 
#include <gtest/gtest.h>
 
#include "ros/ros.h"
#include "ros/service.h"
#include <test_roscpp/TestStringString.h>
 
bool srvCallback(test_roscpp::TestStringString::Request &,
                 test_roscpp::TestStringString::Response &)
{
  return true;
}
 
TEST(SrvCall, advertiseMultiple)
{
  ros::NodeHandle nh;
  ros::ServiceServer srv = nh.advertiseService("service_adv", srvCallback);
  ASSERT_TRUE(srv);
  ros::ServiceServer srv2 = nh.advertiseService("service_adv", srvCallback);
  ASSERT_FALSE(srv2);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "service_adv_multiple");
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}