add test to check float/double serialization/deserialization

roseus/CMakeLists.txt

@@ -122,7 +122,7 @@ set_target_properties(eustf PROPERTIES PREFIX "" SUFFIX ".so")
 set_target_properties(roseus_c_util PROPERTIES PREFIX "" SUFFIX ".so")
 
 add_service_files(
-  FILES AddTwoInts.srv StringString.srv
+  FILES AddTwoInts.srv AddTwoFloats.srv AddTwoDoubles.srv StringString.srv
 )
 add_message_files(
   FILES String.msg StringStamped.msg FixedArray.msg VariableArray.msg TestName.msg
@@ -180,6 +180,8 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/test-add-two-ints.test)
   add_rostest(test/test-add-two-ints-server.test)
   add_rostest(test/test-add-two-ints-server-groupname.test)
+  add_rostest(test/test-add-two-floats.test)
+  add_rostest(test/test-add-two-doubles.test)
   add_rostest(test/test-service-callback.test)
   add_rostest(test/test-simple-client.test)
   add_rostest(test/test-simple-client-wait.test)

roseus/srv/AddTwoDoubles.srv

@@ -0,0 +1,4 @@
+float64 a
+float64 b
+---
+float64 sum

roseus/srv/AddTwoFloats.srv

@@ -0,0 +1,4 @@
+float32 a
+float32 b
+---
+float32 sum

roseus/test/add-two-doubles-server.l

@@ -0,0 +1,20 @@
+#!/usr/bin/env roseus
+;;;
+;;; euslisp version of ros_tutorials/rospy_tutorials/005_add_two_ints
+;;;
+(ros::load-ros-manifest "roseus")
+
+;;;
+(defun add-two-doubles (req)
+  (let ((m (send req :response)))
+    (ros::ros-info "Returning [~d + ~d = ~d]"
+            (send req :a) (send req :b)
+            (+ (send req :a) (send req :b)))
+    (send m :sum  (+ (send req :a) (send req :b)))
+    m))
+;;;
+;;;
+(ros::roseus "add_two_doubles_server")
+(ros::advertise-service "add_two_doubles" roseus::AddTwoDoubles #'add-two-doubles)
+(do-until-key
+ (ros::spin-once))

roseus/test/add-two-floats-server.l

@@ -0,0 +1,20 @@
+#!/usr/bin/env roseus
+;;;
+;;; euslisp version of ros_tutorials/rospy_tutorials/005_add_two_ints
+;;;
+(ros::load-ros-manifest "roseus")
+
+;;;
+(defun add-two-floats (req)
+  (let ((m (send req :response)))
+    (ros::ros-info "Returning [~d + ~d = ~d]"
+            (send req :a) (send req :b)
+            (+ (send req :a) (send req :b)))
+    (send m :sum  (+ (send req :a) (send req :b)))
+    m))
+;;;
+;;;
+(ros::roseus "add_two_floats_server")
+(ros::advertise-service "add_two_floats" roseus::AddTwoFloats #'add-two-floats)
+(do-until-key
+ (ros::spin-once))

roseus/test/test-add-two-doubles.l

@@ -0,0 +1,33 @@
+#!/usr/bin/env roseus
+;;;
+;;; euslisp version of ros_tutorials/rospy_tutorials/test_add_two_ints.py
+;;;
+
+(setq sys::*gc-hook* #'(lambda (a b) (format t ";; gc ~A ~A~%" a b)))
+
+(require :unittest "lib/llib/unittest.l")
+(ros::load-ros-manifest "roseus")
+;;;
+;;;
+(init-unit-test)
+
+(deftest test-add-two-doubles
+  (ros::wait-for-service "add_two_doubles")
+  (dolist (test (list (cons 1.1 2.2) (cons 0.0 0.0) (cons -1.0 -2.0)
+                      (cons 12312.12312 98023.98023)))
+    (print test)
+    (let ((a (car test)) (b (cdr test)))
+      (warning-message 2 "Requesting ~A(~A) + ~A(~A) -> ~A(~A)~%" a (class a) b (class b) (+ a b) (class (+ a b)))
+      (setq req (instance roseus::AddTwoDoublesRequest :init :a a :b b))
+      (setq res (ros::service-call "add_two_doubles" req))
+      (assert (eps= (+ (send req :a) (send req :b)) (send res :sum))
+              (format nil "integration failure (~A+~A)=~A(~A)/=~A(~A)"
+                           a b (+ a b) (class (+ a b)) (send res :sum) (class (send res :sum))))
+      (sys::gc)
+      )))
+
+
+(ros::roseus "add_two_doubles_client")
+(run-all-tests)
+
+(exit)

roseus/test/test-add-two-doubles.test

@@ -0,0 +1,5 @@
+<launch>
+  <node name="a2i_server" pkg="roseus" type="roseus" args="$(find roseus)/test/add-two-doubles-server.l" />
+  <test test-name="add_two_doubles" pkg="roseus" type="roseus" args="$(find roseus)/test/test-add-two-doubles.l"
+        time-limit="120" />
+</launch>

roseus/test/test-add-two-floats.l

@@ -0,0 +1,33 @@
+#!/usr/bin/env roseus
+;;;
+;;; euslisp version of ros_tutorials/rospy_tutorials/test_add_two_ints.py
+;;;
+
+(setq sys::*gc-hook* #'(lambda (a b) (format t ";; gc ~A ~A~%" a b)))
+
+(require :unittest "lib/llib/unittest.l")
+(ros::load-ros-manifest "roseus")
+;;;
+;;;
+(init-unit-test)
+
+(deftest test-add-two-floats
+  (ros::wait-for-service "add_two_floats")
+  (dolist (test (list (cons 1.1 2.2) (cons 0.0 0.0) (cons -1.0 -2.0)
+                      (cons 12312.12312 98023.98023)))
+    (print test)
+    (let ((a (car test)) (b (cdr test)))
+      (warning-message 2 "Requesting ~A(~A) + ~A(~A) -> ~A(~A)~%" a (class a) b (class b) (+ a b) (class (+ a b)))
+      (setq req (instance roseus::AddTwoFloatsRequest :init :a a :b b))
+      (setq res (ros::service-call "add_two_floats" req))
+      (assert (eps= (+ (send req :a) (send req :b)) (send res :sum))
+              (format nil "integration failure (~A+~A)=~A(~A)/=~A(~A)"
+                           a b (+ a b) (class (+ a b)) (send res :sum) (class (send res :sum))))
+      (sys::gc)
+      )))
+
+
+(ros::roseus "add_two_floats_client")
+(run-all-tests)
+
+(exit)

roseus/test/test-add-two-floats.test

@@ -0,0 +1,5 @@
+<launch>
+  <node name="a2i_server" pkg="roseus" type="roseus" args="$(find roseus)/test/add-two-floats-server.l" />
+  <test test-name="add_two_floats" pkg="roseus" type="roseus" args="$(find roseus)/test/test-add-two-floats.l"
+        time-limit="120" />
+</launch>