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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 int g_argc; 00047 char** g_argv; 00048 00049 class Subscriptions : public testing::Test 00050 { 00051 public: 00052 bool success; 00053 bool failure; 00054 int msg_count; 00055 int msg_i; 00056 ros::Duration dt; 00057 00058 void messageCallback(const test_roscpp::TestArrayConstPtr& msg) 00059 { 00060 if(failure || success) 00061 return; 00062 00063 ROS_INFO("received message %d", msg->counter); 00064 msg_i++; 00065 if(msg_i != msg->counter) 00066 { 00067 failure = true; 00068 ROS_INFO("failed"); 00069 } 00070 if(msg_i == (msg_count-1)) 00071 { 00072 success = true; 00073 ROS_INFO("success"); 00074 } 00075 } 00076 00077 protected: 00078 Subscriptions() {} 00079 void SetUp() 00080 { 00081 success = false; 00082 failure = false; 00083 00084 msg_i = -1; 00085 ASSERT_TRUE(g_argc == 3); 00086 msg_count = atoi(g_argv[1]); 00087 dt.fromSec(atof(g_argv[2])); 00088 } 00089 void TearDown() 00090 { 00091 } 00092 }; 00093 00094 TEST_F(Subscriptions, resubscribe) 00095 { 00096 ros::NodeHandle nh; 00097 00098 { 00099 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, &Subscriptions::messageCallback, (Subscriptions*)this); 00100 ASSERT_TRUE(sub); 00101 ros::Time t1(ros::Time::now()+dt); 00102 00103 while(ros::Time::now() < t1 && !success) 00104 { 00105 ros::WallDuration(0.01).sleep(); 00106 ros::spinOnce(); 00107 } 00108 } 00109 00110 if(!success) 00111 FAIL(); 00112 else 00113 { 00114 success = false; 00115 failure = false; 00116 msg_i = -1; 00117 00118 { 00119 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test2", 0, &Subscriptions::messageCallback, (Subscriptions*)this); 00120 ASSERT_TRUE(sub); 00121 ros::Time t1(ros::Time::now()+dt); 00122 00123 while(ros::Time::now() < t1 && !success) 00124 { 00125 ros::WallDuration(0.01).sleep(); 00126 ros::spinOnce(); 00127 } 00128 } 00129 00130 if(success) 00131 SUCCEED(); 00132 else 00133 FAIL(); 00134 } 00135 } 00136 00137 int 00138 main(int argc, char** argv) 00139 { 00140 ros::init(argc, argv, "subscribe_resubscribe"); 00141 ros::NodeHandle nh; 00142 00143 testing::InitGoogleTest(&argc, argv); 00144 g_argc = argc; 00145 g_argv = argv; 00146 return RUN_ALL_TESTS(); 00147 }