multiple_init_fini.cpp
Go to the documentation of this file.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: Josh Faust */ 00031 00032 /* 00033 * Repeatedly create and destroy a node. Do some stuff in between to be sure things are working 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 int g_argc; 00047 char** g_argv; 00048 00049 void callback(const test_roscpp::TestArrayConstPtr& msg) 00050 { 00051 } 00052 00053 TEST(roscpp, multipleInitAndFini) 00054 { 00055 int try_count = 10; 00056 if ( g_argc > 1 ) 00057 { 00058 try_count = atoi(g_argv[1]); 00059 } 00060 00061 for ( int i = 0; i < try_count; ++i ) 00062 { 00063 ros::init( g_argc, g_argv, "multiple_init_fini" ); 00064 ros::NodeHandle nh; 00065 00066 ros::Subscriber sub = nh.subscribe("test", 1, callback); 00067 ASSERT_TRUE(sub); 00068 00069 ros::Publisher pub = nh.advertise<test_roscpp::TestArray>( "test2", 1 ); 00070 ASSERT_TRUE(pub); 00071 00072 ros::shutdown(); 00073 } 00074 } 00075 00076 int 00077 main(int argc, char** argv) 00078 { 00079 testing::InitGoogleTest(&argc, argv); 00080 g_argc = argc; 00081 g_argv = argv; 00082 return RUN_ALL_TESTS(); 00083 }