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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 number of messages based on the first command line argument 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/TestEmpty.h> 00045 00046 int g_argc; 00047 char** g_argv; 00048 00049 class Subscriptions : public testing::Test 00050 { 00051 public: 00052 test_roscpp::TestEmpty msg; 00053 bool success; 00054 bool failure; 00055 int msg_count; 00056 int msg_i; 00057 ros::Duration dt; 00058 00059 void messageCallback(const test_roscpp::TestEmptyConstPtr& msg) 00060 { 00061 if(failure || success) 00062 return; 00063 00064 msg_i++; 00065 printf("received message %d\n", msg_i); 00066 if(msg_i == (msg_count-1)) 00067 { 00068 success = true; 00069 puts("success"); 00070 } 00071 } 00072 00073 protected: 00074 Subscriptions() {} 00075 void SetUp() 00076 { 00077 success = false; 00078 failure = false; 00079 00080 msg_i = -1; 00081 ASSERT_TRUE(g_argc == 3); 00082 msg_count = atoi(g_argv[1]); 00083 dt.fromSec(atof(g_argv[2])); 00084 } 00085 void TearDown() 00086 { 00087 } 00088 }; 00089 00090 TEST_F(Subscriptions, emptyMsg) 00091 { 00092 ros::NodeHandle nh; 00093 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", msg_count, &Subscriptions::messageCallback, (Subscriptions*)this); 00094 ros::Time t1(ros::Time::now()+dt); 00095 00096 while(ros::Time::now() < t1 && !success) 00097 { 00098 ros::WallDuration(0.01).sleep(); 00099 ros::spinOnce(); 00100 } 00101 00102 if(success) 00103 SUCCEED(); 00104 else 00105 FAIL(); 00106 } 00107 00108 int main(int argc, char** argv) 00109 { 00110 ros::init(argc, argv, "subscribe_empty"); 00111 ros::NodeHandle nh; 00112 00113 testing::InitGoogleTest(&argc, argv); 00114 g_argc = argc; 00115 g_argv = argv; 00116 return RUN_ALL_TESTS(); 00117 }