From 859cf64488a858fab757c814d4835e321bbf8448 Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Sun, 9 Nov 2014 21:07:59 +0900
Subject: [PATCH] add test code for multibyte string

---
 test/test_roscpp/test/src/service_call.cpp    | 13 +++++++++++
 .../test/rostest/test_basic_services.py       | 23 +++++++++++++++++++
 2 files changed, 36 insertions(+)

diff --git a/test/test_roscpp/test/src/service_call.cpp b/test/test_roscpp/test/src/service_call.cpp
index b50869af21..6e05ab4f17 100644
--- a/test/test_roscpp/test/src/service_call.cpp
+++ b/test/test_roscpp/test/src/service_call.cpp
@@ -58,6 +58,19 @@ TEST(SrvCall, callSrv)
   ASSERT_STREQ(res.str.c_str(), "CASE_flip");
 }
 
+TEST(SrvCall, callSrvUnicode)
+{
+  test_roscpp::TestStringString::Request req;
+  test_roscpp::TestStringString::Response res;
+
+  req.str = std::string("ロボット");
+
+  ASSERT_TRUE(ros::service::waitForService("service_adv"));
+  ASSERT_TRUE(ros::service::call("service_adv", req, res));
+
+  ASSERT_STREQ(res.str.c_str(), "ロボット");
+}
+
 TEST(SrvCall, callSrvMultipleTimes)
 {
   test_roscpp::TestStringString::Request req;
diff --git a/test/test_rospy/test/rostest/test_basic_services.py b/test/test_rospy/test/rostest/test_basic_services.py
index dda4d402aa..14900fd2df 100755
--- a/test/test_rospy/test/rostest/test_basic_services.py
+++ b/test/test_rospy/test/rostest/test_basic_services.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# -*- coding: utf-8 -*-
 # Software License Agreement (BSD License)
 #
 # Copyright (c) 2008, Willow Garage, Inc.
@@ -213,6 +214,28 @@ def test_String_String(self):
             resp_req_kwds = self._test_req_kwds(name, Cls, {'str': String('FOO'), 'str2': Val('bar')})
             for resp in [resp_req, resp_req_naked, resp_req_kwds]:
                 self.assertEquals('FOObar', resp.str.data)
+
+    def test_String_String_unicode(self):
+        from std_msgs.msg import String
+        from test_rospy.srv import StringString, StringStringRequest
+        from test_rospy.msg import Val
+        import sys
+        Cls = StringString
+        Req = StringStringRequest
+
+        for name in [STRING_CAT_SERVICE_NAKED, STRING_CAT_SERVICE_WRAPPED]:
+            if sys.version_info.major < '3':
+                resp_req = self._test(name, Cls, Req(String(u'ロボット'), Val(u'机器人')))
+                resp_req_naked = self._test_req_naked(name, Cls, (String(u'ロボット'), Val(u'机器人'),))
+                resp_req_kwds = self._test_req_kwds(name, Cls, {'str': String(u'ロボット'), 'str2': Val(u'机器人')})
+                for resp in [resp_req, resp_req_naked, resp_req_kwds]:
+                    self.assertEquals('ロボット机器人', resp.str.data) # if you send in unicode, you'll receive in str
+            else:
+                resp_req = self._test(name, Cls, Req(String('ロボット'), Val('机器人')))
+                resp_req_naked = self._test_req_naked(name, Cls, (String('ロボット'), Val('机器人'),))
+                resp_req_kwds = self._test_req_kwds(name, Cls, {'str': String('ロボット'), 'str2': Val('机器人')})
+                for resp in [resp_req, resp_req_naked, resp_req_kwds]:
+                    self.assertEquals('ロボット机器人', resp.str.data)
         
     def test_constants(self):
         Cls = ConstantsMultiplex