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#include <boost/shared_array.hpp>
#include <gtest/gtest.h>
#include <RobotRaconteur/ServiceDefinition.h>
#include <RobotRaconteur/RobotRaconteurNode.h>
#include "com__robotraconteur__testing__TestService1.h"
#include "com__robotraconteur__testing__TestService1_stubskel.h"
#include "ServiceTestClient.h"
#include "ServiceTest.h"
#include "robotraconteur_generated.h"
#include "service_test_utils.h"
using namespace RobotRaconteur;
using namespace RobotRaconteur::test;
using namespace RobotRaconteurTest;
TEST(RobotRaconteurService, DiscoveryLoopback)
{
std::vector<std::string> args;
RR_SHARED_PTR<RobotRaconteurNode> client_node = RR_MAKE_SHARED<RobotRaconteurNode>();
client_node->Init();
ClientNodeSetup client_node_setup(client_node, ROBOTRACONTEUR_SERVICE_TYPES, args);
uint32_t server_flags = RobotRaconteurNodeSetupFlags_SERVER_DEFAULT;
server_flags &= ~RobotRaconteurNodeSetupFlags_LOCAL_TRANSPORT_START_SERVER;
ServerNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES, "discovery_test_server_node", 0, server_flags);
RobotRaconteurTestServiceSupport s;
s.RegisterServices(node_setup.GetTcpTransport());
boost::this_thread::sleep(boost::posix_time::milliseconds(5000));
std::vector<std::string> schemes;
if (node_setup.GetTcpTransport())
{
schemes.push_back("rr+tcp");
}
// if (node_setup.GetLocalTransport())
// {
// schemes.push_back("rr+local");
// }
BOOST_FOREACH (const std::string& scheme, schemes)
{
std::vector<std::string> schemes2;
schemes2.push_back(scheme);
std::vector<ServiceInfo2> discovered_services =
client_node->FindServiceByType("com.robotraconteur.testing.TestService1.testroot", schemes2);
std::cout << "Found " << discovered_services.size() << " services" << std::endl;
std::set<std::string> expected_service_names;
expected_service_names.insert("RobotRaconteurTestService");
expected_service_names.insert("RobotRaconteurTestService_auth");
EXPECT_GE(discovered_services.size(), 2);
size_t found_services = 0;
BOOST_FOREACH (ServiceInfo2 s, discovered_services)
{
EXPECT_LE(expected_service_names.erase(s.Name), 1);
if (s.NodeName != "discovery_test_server_node")
continue;
EXPECT_EQ(s.RootObjectType, "com.robotraconteur.testing.TestService1.testroot");
EXPECT_EQ(s.RootObjectImplements.size(), 1);
EXPECT_EQ(s.RootObjectImplements.at(0), "com.robotraconteur.testing.TestService2.baseobj");
if (s.Name == "RobotRaconteurTestService")
{
RR_SHARED_PTR<com::robotraconteur::testing::TestService1::testroot> c;
ASSERT_NO_THROW(c = rr_cast<com::robotraconteur::testing::TestService1::testroot>(
client_node->ConnectService(s.ConnectionURL)));
EXPECT_NO_THROW(c->get_d1());
EXPECT_NO_THROW(client_node->DisconnectService(c));
}
found_services++;
}
EXPECT_GE(found_services, 2);
EXPECT_EQ(expected_service_names.size(), 0);
}
}
int main(int argc, char* argv[])
{
testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;
}
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