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00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 /* Author: Josh Faust */ 00031 00032 #include <gtest/gtest.h> 00033 #include <ros/ros.h> 00034 #include <ros/callback_queue.h> 00035 00036 #include "test_roscpp/TestArray.h" 00037 00038 uint32_t g_pub_count = 0; 00039 00040 void callback(const test_roscpp::TestArrayConstPtr& msg) 00041 { 00042 00043 } 00044 00045 TEST(LoadsOfPublishers, waitForAll) 00046 { 00047 ros::NodeHandle nh; 00048 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1000, callback); 00049 00050 while (sub.getNumPublishers() < g_pub_count) 00051 { 00052 ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1)); 00053 } 00054 00055 ros::WallDuration(10).sleep(); 00056 ros::spinOnce(); 00057 ASSERT_EQ(sub.getNumPublishers(), g_pub_count); 00058 } 00059 00060 struct Helper 00061 { 00062 void callback(const test_roscpp::TestArrayConstPtr& msg) 00063 { 00064 alive[(*msg->__connection_header)["callerid"]] = true; 00065 } 00066 00067 std::map<std::string, bool> alive; 00068 }; 00069 00070 TEST(LoadsOfPublishers, receiveFromAll) 00071 { 00072 ros::NodeHandle nh; 00073 Helper helper; 00074 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1000, &Helper::callback, &helper); 00075 00076 while (helper.alive.size() < g_pub_count) 00077 { 00078 ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1)); 00079 } 00080 } 00081 00082 int main(int argc, char** argv) 00083 { 00084 testing::InitGoogleTest(&argc, argv); 00085 ros::init(argc, argv, "loads_of_publishers"); 00086 00087 if (argc < 2) 00088 { 00089 ROS_ERROR("Not enough arguments (usage: loads_of_publishers num_publishers)"); 00090 return 1; 00091 } 00092 00093 g_pub_count = atoi(argv[1]); 00094 00095 ros::NodeHandle nh; 00096 00097 return RUN_ALL_TESTS(); 00098 }