-
Notifications
You must be signed in to change notification settings - Fork 50
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
add unit test to check for node names across rmw impl.
- Loading branch information
1 parent
d41e947
commit 5972e29
Showing
4 changed files
with
154 additions
and
3 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| // Copyright 2018 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include <string> | ||
|
|
||
| #include "rclcpp/rclcpp.hpp" | ||
|
|
||
| using namespace std::chrono_literals; | ||
|
|
||
| int main(int argc, char ** argv) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
|
|
||
| if (argc < 2) { | ||
| fprintf( | ||
| stderr, "Must pass at least one argument with the expected node name\n"); | ||
| return 1; | ||
| } | ||
| printf("Waiting for node with name: %s\n", argv[1]); | ||
| std::cout.flush(); | ||
|
|
||
| auto node_name = std::string("node_name_list"); | ||
| auto node = rclcpp::Node::make_shared(node_name); | ||
|
|
||
| rclcpp::executors::SingleThreadedExecutor exec; | ||
| exec.add_node(node); | ||
|
|
||
| int rc = 1; | ||
| const std::chrono::steady_clock::time_point max_runtime = | ||
| std::chrono::steady_clock::now() + 10s; | ||
| while (rc && rclcpp::ok()) { | ||
| printf("\n"); | ||
| auto names = node->get_node_graph_interface()->get_node_names(); | ||
| for (auto it : names) { | ||
| printf("%s\n", it.c_str()); | ||
| if (argc >= 2 && it == argv[1]) { | ||
| printf(" found expected node name\n"); | ||
| rc = 0; | ||
| } | ||
| } | ||
| std::cout.flush(); | ||
| if (std::chrono::steady_clock::now() >= max_runtime) { | ||
| break; | ||
| } | ||
| exec.spin_once(250ms); | ||
| } | ||
|
|
||
| exec.remove_node(node); | ||
| rclcpp::shutdown(); | ||
| if (rc) { | ||
| fprintf(stderr, "not found expected node name\n"); | ||
| } | ||
| return rc; | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| // Copyright 2018 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include <string> | ||
|
|
||
| #include "rclcpp/rclcpp.hpp" | ||
|
|
||
| int main(int argc, char ** argv) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
|
|
||
| auto node_name = std::string("node_with_name"); | ||
| if (argc >= 2) { | ||
| node_name += "_"; | ||
| node_name += argv[1]; | ||
| } | ||
| printf("Starting node with name: %s\n", node_name.c_str()); | ||
| std::cout.flush(); | ||
|
|
||
| auto node = rclcpp::Node::make_shared(node_name); | ||
| rclcpp::spin(node); | ||
| rclcpp::shutdown(); | ||
| return 0; | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters