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00001 /* 00002 * Copyright (c) 2008, 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: Brian Gerkey */ 00031 00032 #include <string> 00033 00034 #include <gtest/gtest.h> 00035 00036 #include <time.h> 00037 #include <stdlib.h> 00038 00039 #include "ros/ros.h" 00040 #include <test_roscpp/TestArray.h> 00041 00042 static int g_argc; 00043 static char** g_argv; 00044 00045 bool failure; 00046 bool advertised; 00047 00048 class Publications : public testing::Test 00049 { 00050 public: 00051 ros::NodeHandle nh_; 00052 ros::Publisher pub_; 00053 00054 void subscriberCallback(const ros::SingleSubscriberPublisher&) 00055 { 00056 ROS_INFO("subscriberCallback invoked"); 00057 if(!advertised) 00058 { 00059 ROS_INFO("but not advertised"); 00060 failure = true; 00061 } 00062 } 00063 00064 bool adv() 00065 { 00066 pub_ = nh_.advertise<test_roscpp::TestArray>("test_roscpp/pubsub_test", 1, boost::bind(&Publications::subscriberCallback, this, _1)); 00067 return pub_; 00068 } 00069 00070 void unadv() 00071 { 00072 pub_.shutdown(); 00073 } 00074 00075 protected: 00076 Publications() {} 00077 void SetUp() 00078 { 00079 advertised = false; 00080 failure = false; 00081 00082 ASSERT_TRUE(g_argc == 1); 00083 } 00084 void TearDown() 00085 { 00086 } 00087 }; 00088 00089 TEST_F(Publications, pubUnadvertise) 00090 { 00091 advertised = true; 00092 ROS_INFO("advertising"); 00093 ASSERT_TRUE(adv()); 00094 ros::Time t1(ros::Time::now()+ros::Duration(2.0)); 00095 00096 while(ros::Time::now() < t1 && !failure) 00097 { 00098 ros::WallDuration(0.01).sleep(); 00099 ros::spinOnce(); 00100 } 00101 00102 unadv(); 00103 00104 ROS_INFO("unadvertised"); 00105 advertised = false; 00106 00107 ros::Time t2(ros::Time::now()+ros::Duration(2.0)); 00108 while(ros::Time::now() < t2 && !failure) 00109 { 00110 ros::WallDuration(0.01).sleep(); 00111 ros::spinOnce(); 00112 } 00113 00114 advertised = true; 00115 ASSERT_TRUE(adv()); 00116 unadv(); 00117 ASSERT_TRUE(adv()); 00118 00119 if(failure) 00120 FAIL(); 00121 else 00122 SUCCEED(); 00123 } 00124 00125 int 00126 main(int argc, char** argv) 00127 { 00128 ros::init(argc, argv, "publish_unadvertise"); 00129 testing::InitGoogleTest(&argc, argv); 00130 g_argc = argc; 00131 g_argv = argv; 00132 return RUN_ALL_TESTS(); 00133 }