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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 <ros/callback_queue.h> 00045 #include <test_roscpp/TestArray.h> 00046 00047 int g_msg_count; 00048 ros::Duration g_dt; 00049 uint32_t g_options; 00050 00051 class Subscriptions : public testing::Test 00052 { 00053 public: 00054 bool success; 00055 bool failure; 00056 int msg_i; 00057 ros::Publisher pub_; 00058 00059 void messageCallback(const test_roscpp::TestArrayConstPtr& msg) 00060 { 00061 if(failure || success) 00062 return; 00063 00064 //printf("received message %d\n", msg.counter); 00065 if (msg_i == -1) 00066 { 00067 msg_i = msg->counter - 1; 00068 } 00069 00070 msg_i++; 00071 //ROS_INFO("msg_i=%d, counter=%d", msg_i, msg->counter); 00072 if(msg_i != msg->counter) 00073 { 00074 failure = true; 00075 ROS_INFO("failed"); 00076 } 00077 else if(msg_i == (g_msg_count-1)) 00078 { 00079 success = true; 00080 ROS_INFO("success"); 00081 } 00082 else 00083 { 00084 pub_.publish(msg); 00085 } 00086 } 00087 00088 void subscriberCallback(const ros::SingleSubscriberPublisher&) 00089 { 00090 test_roscpp::TestArray msg; 00091 msg.counter = 0; 00092 pub_.publish(msg); 00093 } 00094 00095 protected: 00096 void SetUp() 00097 { 00098 success = false; 00099 failure = false; 00100 00101 msg_i = -1; 00102 } 00103 void TearDown() 00104 { 00105 00106 } 00107 }; 00108 00109 TEST_F(Subscriptions, subPub) 00110 { 00111 ros::NodeHandle nh; 00112 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, &Subscriptions::messageCallback, (Subscriptions*)this); 00113 ASSERT_TRUE(sub); 00114 pub_ = nh.advertise<test_roscpp::TestArray>("test_roscpp/subpub_test", 0, boost::bind(&Subscriptions::subscriberCallback, this, _1)); 00115 ASSERT_TRUE(pub_); 00116 ros::Time t1(ros::Time::now()+g_dt); 00117 00118 while(ros::Time::now() < t1 && !success && !failure) 00119 { 00120 ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1)); 00121 } 00122 00123 if(success) 00124 SUCCEED(); 00125 else 00126 FAIL(); 00127 } 00128 00129 #define USAGE "USAGE: sub_pub <count> <time>" 00130 00131 int 00132 main(int argc, char** argv) 00133 { 00134 testing::InitGoogleTest(&argc, argv); 00135 ros::init(argc, argv, "sub_pub"); 00136 00137 if(argc != 3) 00138 { 00139 puts(USAGE); 00140 return -1; 00141 } 00142 g_msg_count = atoi(argv[1]); 00143 g_dt.fromSec(atof(argv[2])); 00144 00145 ros::NodeHandle nh; 00146 00147 return RUN_ALL_TESTS(); 00148 }