multiple_latched_publishers.cpp

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/* Author: Hans-Joachim Krauch */
 
/*
 * Verify that every latched publisher sends its last published message to
 * a newly connected subscriber.
 */
 
#include <chrono>
#include <future>
#include <vector>
 
#include <gtest/gtest.h>
#include "ros/ros.h"
#include "ros/topic_manager.h"
#include <std_msgs/builtin_bool.h>
 
 
TEST(MultipleLatchedPublishers, LatchedPublisherReceiveMultiple)
{
  ros::NodeHandle nh;
  std::vector<ros::Publisher> latched_publishers = {
    nh.advertise<bool>("foo", 10, true),
    nh.advertise<bool>("foo", 10, true),
    nh.advertise<bool>("foo", 10, true),
  };
  std::vector<ros::Publisher> unlatched_publishers = {
    nh.advertise<bool>("foo", 10, false),
    nh.advertise<bool>("foo", 10, false),
  };
 
  for (auto& pub : latched_publishers) {
    pub.publish(true);
  }
  for (auto& pub : unlatched_publishers) {
    pub.publish(true);
  }
 
  std::size_t msg_count = 0;
  std::promise<bool> received_promise;
  auto received_future = received_promise.get_future();
 
  const auto sub = nh.subscribe<std_msgs::Bool>("foo", 10, [&](const std_msgs::Bool::ConstPtr&) {
    if (++msg_count == latched_publishers.size()) {
      received_promise.set_value(true);
    }
  });
 
  ASSERT_EQ(std::future_status::ready, received_future.wait_for(std::chrono::seconds(1)));
  const auto received = received_future.get();
  EXPECT_TRUE(received);
  EXPECT_EQ(latched_publishers.size(), msg_count);
}
 
TEST(MultipleLatchedPublishers, TopicManagerIsLatched)
{
  ros::NodeHandle nh;
  std::vector<ros::Publisher> publishers_bar = {
    nh.advertise<bool>("bar", 10, false),
    nh.advertise<bool>("bar", 10, true),
    nh.advertise<bool>("bar", 10, false),
  };
  EXPECT_TRUE(ros::TopicManager::instance()->isLatched("/bar"));
 
  std::vector<ros::Publisher> publishers_baz = {
    nh.advertise<bool>("baz", 10, false),
    nh.advertise<bool>("baz", 10, false),
  };
  EXPECT_FALSE(ros::TopicManager::instance()->isLatched("/baz"));
}
 
TEST(MultipleLatchedPublishers, TopicManagerLatchShutdown)
{
  ros::NodeHandle nh;
  ros::Publisher qux_latched = nh.advertise<bool>("qux", 10, true);
  ros::Publisher qux_unlatched = nh.advertise<bool>("qux", 10, false);
  EXPECT_TRUE(ros::TopicManager::instance()->isLatched("/qux"));
 
  qux_latched.shutdown();
  EXPECT_FALSE(ros::TopicManager::instance()->isLatched("/qux"));
}
 
int main(int argc, char **argv) {
  ::testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_multiple_latched_publishers");
  ros::AsyncSpinner spinner(1);
  spinner.start();
  return RUN_ALL_TESTS();
}