From e59b5d6584d580830a3ac3fe7c33e358b76faf62 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Tue, 2 Apr 2019 16:40:18 +0900
Subject: [PATCH] Add test for #609

---
 roseus/msg/TestName.msg     |  1 +
 roseus/test/test-name-pub.l | 19 +++++++++++++------
 roseus/test/test-name-sub.l |  5 ++++-
 3 files changed, 18 insertions(+), 7 deletions(-)

diff --git a/roseus/msg/TestName.msg b/roseus/msg/TestName.msg
index dce4ea5d0..5f66d96d4 100644
--- a/roseus/msg/TestName.msg
+++ b/roseus/msg/TestName.msg
@@ -1 +1,2 @@
 roseus/StringStamped name
+roseus/String string
diff --git a/roseus/test/test-name-pub.l b/roseus/test/test-name-pub.l
index c0367dbb4..4ef4a6925 100755
--- a/roseus/test/test-name-pub.l
+++ b/roseus/test/test-name-pub.l
@@ -6,11 +6,18 @@
 (ros::advertise "test_name" roseus::TestName)
 (ros::rate 1)
 (setq i 0)
+
+;; Test for name clashing in ROS messages
+;; `name' tests for name clashing in slot names
+;; `string' tests for name clashing in message names
+
 (while (ros::ok)
-  (setq ss (instance roseus::StringStamped :init :data (format nil "test ~A" (incf i))))
-  (setq msg (instance roseus::TestName :init :name ss))
-  (ros::ros-info "pub ~A" msg)
-  (ros::publish "test_name" msg)
-  (ros::sleep)
-  (ros::spin-once))
+  (let* ((str (format nil "test ~A" (incf i)))
+         (s (instance roseus::String :init :data str))
+         (ss (instance roseus::StringStamped :init :data str))
+         (msg (instance roseus::TestName :init :name ss :string s)))
+    (ros::ros-info "pub ~A" msg)
+    (ros::publish "test_name" msg)
+    (ros::sleep)
+    (ros::spin-once)))
 
diff --git a/roseus/test/test-name-sub.l b/roseus/test/test-name-sub.l
index b7d300a22..c512bb13d 100755
--- a/roseus/test/test-name-sub.l
+++ b/roseus/test/test-name-sub.l
@@ -1,6 +1,9 @@
 #!/usr/bin/env roseus
 
-(ros::load-ros-manifest "roseus")
+;; It is important to load `TestName.l' before `String.l' to test for name clashing
+;; between roseus::String and lisp::string
+(flet ((directory (dir) (list "TestName.l" "StringStamped.l" "String.l")))
+  (ros::roseus-add-files "roseus" "msg"))
 
 (ros::roseus "test_name_sub")
 (ros::subscribe "test_name" roseus::TestName #'(lambda (msg) (ros::ros-info "sub ~A" msg)))