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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 /* 00033 * Subscribe to a topic, expecting to get a single message. 00034 */ 00035 00036 #include <string> 00037 00038 #include <gtest/gtest.h> 00039 00040 #include <time.h> 00041 #include <stdlib.h> 00042 00043 #include "ros/ros.h" 00044 #include <test_roscpp/TestArray.h> 00045 00046 #include <boost/thread.hpp> 00047 00048 int g_argc; 00049 char** g_argv; 00050 00051 class Subscriptions : public testing::Test 00052 { 00053 public: 00054 ros::NodeHandle nh_; 00055 ros::Subscriber sub_; 00056 00057 void messageCallback(const test_roscpp::TestArrayConstPtr& msg) 00058 { 00059 ROS_INFO("in callback"); 00060 00061 if(!sub_) 00062 { 00063 ROS_INFO("but not subscribed!"); 00064 FAIL(); 00065 } 00066 } 00067 00068 void autoUnsubscribeCallback(const test_roscpp::TestArrayConstPtr& msg) 00069 { 00070 ROS_INFO("in autounsub callback"); 00071 sub_.shutdown(); 00072 } 00073 00074 protected: 00075 Subscriptions() {} 00076 }; 00077 00078 TEST_F(Subscriptions, subUnsub) 00079 { 00080 sub_.shutdown(); 00081 00082 for(int i=0;i<100;i++) 00083 { 00084 if(!sub_) 00085 { 00086 sub_ = nh_.subscribe("test_roscpp/pubsub_test", 0, &Subscriptions::messageCallback, (Subscriptions*)this); 00087 ASSERT_TRUE(sub_); 00088 } 00089 else 00090 { 00091 sub_.shutdown(); 00092 ASSERT_FALSE(sub_); 00093 } 00094 00095 ros::WallDuration(0.01).sleep(); 00096 ros::spinOnce(); 00097 } 00098 } 00099 00100 TEST_F(Subscriptions, unsubInCallback) 00101 { 00102 sub_ = nh_.subscribe("test_roscpp/pubsub_test", 0, &Subscriptions::autoUnsubscribeCallback, (Subscriptions*)this); 00103 00104 while (sub_ && ros::ok()) 00105 { 00106 ros::WallDuration(0.01).sleep(); 00107 ros::spinOnce(); 00108 } 00109 } 00110 00111 void spinThread(bool volatile* cont) 00112 { 00113 while (*cont) 00114 { 00115 ros::spinOnce(); 00116 ros::Duration(0.001).sleep(); 00117 } 00118 } 00119 00120 void unsubscribeAfterBarrierWait(boost::barrier* barrier, ros::Subscriber& sub) 00121 { 00122 barrier->wait(); 00123 00124 sub.shutdown(); 00125 } 00126 00127 TEST_F(Subscriptions, unsubInCallbackAndOtherThread) 00128 { 00129 boost::barrier barrier(2); 00130 for (int i = 0; i < 100; ++i) 00131 { 00132 ros::Subscriber sub; 00133 sub_ = nh_.subscribe<test_roscpp::TestArray>("test_roscpp/pubsub_test", 1, boost::bind(unsubscribeAfterBarrierWait, &barrier, boost::ref(sub))); 00134 sub = sub_; 00135 00136 bool cont = true; 00137 boost::thread t(spinThread, &cont); 00138 00139 barrier.wait(); 00140 00141 sub_.shutdown(); 00142 cont = false; 00143 t.join(); 00144 } 00145 } 00146 00147 int 00148 main(int argc, char** argv) 00149 { 00150 testing::InitGoogleTest(&argc, argv); 00151 00152 g_argc = argc; 00153 g_argv = argv; 00154 00155 ros::init(g_argc, g_argv, "subscribe_unsubscribe"); 00156 00157 if (g_argc != 1) 00158 { 00159 puts("Too many arguments\n"); 00160 return -1; 00161 } 00162 00163 return RUN_ALL_TESTS(); 00164 }