use std::process::Command;
mod util;
mod msg {
rosrust::rosmsg_include!(roscpp_tutorials / TwoInts);
}
fn test_request(client: &rosrust::Client<msg::roscpp_tutorials::TwoInts>, a: i64, b: i64) {
let sum = client
.req(&msg::roscpp_tutorials::TwoIntsReq { a, b })
.unwrap()
.unwrap()
.sum;
assert_eq!(a + b, sum);
}
#[test]
fn client_to_inline_service() {
let _roscore = util::run_roscore_for(util::Language::None, util::Feature::Client);
let _service = util::ChildProcessTerminator::spawn_example(
Command::new("cargo")
.arg("run")
.arg("--example")
.arg("service"),
);
rosrust::init("add_two_ints_client_service");
let _service = rosrust::service::<msg::roscpp_tutorials::TwoInts, _>("add_two_ints", |req| {
Ok(msg::roscpp_tutorials::TwoIntsRes { sum: req.a + req.b })
})
.unwrap();
let client = rosrust::client::<msg::roscpp_tutorials::TwoInts>("add_two_ints").unwrap();
test_request(&client, 0, 10);
test_request(&client, 10, 0);
test_request(&client, 100, -200);
}