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  // Bring in my package's API, which is what I'm testing
  #include "ros/ros.h"
  #include "topic_tools/shape_shifter.h"
  #include "std_msgs/String.h"
  #include "std_msgs/Int32.h"
  
  // Bring in gtest
  #include <gtest/gtest.h>
  
  class ShapeShifterSubscriber : public testing::Test
  {
    public:
  
    bool success;
  
    void messageCallbackInt(const topic_tools::ShapeShifter::ConstPtr& msg)
    {
      try {
        std_msgs::Int32::Ptr s = msg->instantiate<std_msgs::Int32>();
      } catch (topic_tools::ShapeShifterException& e)
      {
        success = true;
      }
    }
  
    void messageCallbackString(const topic_tools::ShapeShifter::ConstPtr& msg)
    {
      try {
        std_msgs::String::Ptr s = msg->instantiate<std_msgs::String>();
        if (s->data == "chatter")
          success = true;
      } catch (topic_tools::ShapeShifterException& e)
      {
  
      }
    }
  
    void messageCallbackLoopback(const topic_tools::ShapeShifter::ConstPtr& msg)
    {
      try {
        std_msgs::String::Ptr s = msg->instantiate<std_msgs::String>();
        printf("Got data: %s", s->data.c_str());
        if (s->data == "abc123")
          success = true;
      } catch (topic_tools::ShapeShifterException& e)
      {
          printf("Instantiate failed!\n");
      }
    }
    
  protected:
    ShapeShifterSubscriber() {}
  
    void SetUp()
    {
      success = false;
    }
  
    void TearDown()  {}
  };
  
  
  TEST_F(ShapeShifterSubscriber, testInstantiateString)
  {
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("input",1,&ShapeShifterSubscriber::messageCallbackString, (ShapeShifterSubscriber*)this);
  
    ros::Time t1(ros::Time::now()+ros::Duration(10.0));
  
    while(ros::Time::now() < t1 && !success)
    {
      ros::WallDuration(0.01).sleep();
      ros::spinOnce();
    }
  
    EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
  
    if(success)
      SUCCEED();
    else
      FAIL();
  }
  
  TEST_F(ShapeShifterSubscriber, testInstantiateInt)
  {
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("input",1,&ShapeShifterSubscriber::messageCallbackInt, (ShapeShifterSubscriber*)this);
  
    ros::Time t1(ros::Time::now()+ros::Duration(10.0));
  
    while(ros::Time::now() < t1 && !success)
    {
      ros::WallDuration(0.01).sleep();
      ros::spinOnce();
    }
  
    EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
  
    if(success)
      SUCCEED();
    else
      FAIL();
  }
  
  TEST_F(ShapeShifterSubscriber, testLoopback)
  {
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("loopback",1,&ShapeShifterSubscriber::messageCallbackLoopback, (ShapeShifterSubscriber*)this);
  
    ros::Time t1(ros::Time::now()+ros::Duration(10.0));
  
    ros::Publisher pub = nh.advertise<std_msgs::String>("loopback", 1);
    std_msgs::String s;
    s.data = "abc123";
    pub.publish(s);
  
    while(ros::Time::now() < t1 && !success)
    {
      ros::WallDuration(0.01).sleep();
      ros::spinOnce();
    }
  
    EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
  
    if(success)
      SUCCEED();
    else
      FAIL();
  }
  
  int main(int argc, char **argv){
      ros::init(argc, argv, "test_shapeshifter");
  
      testing::InitGoogleTest(&argc, argv);
      return RUN_ALL_TESTS();
  }
  