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00001 /* 00002 * Copyright (c) 2010, 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 /* 00031 * Author: Josh Faust 00032 */ 00033 00034 #include <gtest/gtest.h> 00035 00036 #include <ros/ros.h> 00037 #include <ros/connection_manager.h> 00038 00039 #include "test_roscpp/TestArray.h" 00040 #include "roscpp/Empty.h" 00041 00042 int32_t g_count = 0; 00043 void callback(const test_roscpp::TestArrayConstPtr& msg) 00044 { 00045 ++g_count; 00046 } 00047 00048 TEST(SubscribeRetryTCP, localDisconnect) 00049 { 00050 g_count = 0; 00051 ros::NodeHandle nh; 00052 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, callback); 00053 // wait for initial messages to arrive 00054 ros::WallTime start = ros::WallTime::now(); 00055 while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0)) 00056 { 00057 ros::WallDuration(0.01).sleep(); 00058 ros::spinOnce(); 00059 } 00060 00061 ASSERT_GT(g_count, 0); 00062 00063 ros::ConnectionManager::instance()->clear(ros::Connection::TransportDisconnect); 00064 00065 // spin to make sure all previous messages have arrived 00066 ros::spinOnce(); 00067 00068 g_count = 0; 00069 // wait for reconnect/new messages to arrive 00070 start = ros::WallTime::now(); 00071 while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0)) 00072 { 00073 ros::WallDuration(0.01).sleep(); 00074 ros::spinOnce(); 00075 } 00076 00077 ASSERT_GT(g_count, 0); 00078 } 00079 00080 TEST(SubscribeRetryTCP, localDisconnectNonTransportDisconnect) 00081 { 00082 g_count = 0; 00083 ros::NodeHandle nh; 00084 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, callback); 00085 // wait for initial messages to arrive 00086 ros::WallTime start = ros::WallTime::now(); 00087 while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0)) 00088 { 00089 ros::WallDuration(0.01).sleep(); 00090 ros::spinOnce(); 00091 } 00092 00093 ASSERT_GT(g_count, 0); 00094 00095 ros::ConnectionManager::instance()->clear(ros::Connection::HeaderError); 00096 00097 // spin for a bit to make sure all previous messages have arrived 00098 start = ros::WallTime::now(); 00099 while (ros::WallTime::now() - start < ros::WallDuration(1.0)) 00100 { 00101 ros::WallDuration(0.01).sleep(); 00102 ros::spinOnce(); 00103 } 00104 00105 g_count = 0; 00106 // make sure we did not reconnect 00107 start = ros::WallTime::now(); 00108 while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0)) 00109 { 00110 ros::WallDuration(0.01).sleep(); 00111 ros::spinOnce(); 00112 } 00113 00114 ASSERT_EQ(g_count, 0); 00115 } 00116 00117 TEST(SubscribeRetryTCP, remoteDisconnect) 00118 { 00119 g_count = 0; 00120 ros::NodeHandle nh; 00121 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, callback); 00122 // wait for initial messages to arrive 00123 ros::WallTime start = ros::WallTime::now(); 00124 while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0)) 00125 { 00126 ros::WallDuration(0.01).sleep(); 00127 ros::spinOnce(); 00128 } 00129 00130 ASSERT_GT(g_count, 0); 00131 00132 roscpp::Empty::Request req; 00133 roscpp::Empty::Response resp; 00134 ros::service::call("/publish_constantly/debug/close_all_connections", req, resp); 00135 00136 // spin to make sure all previous messages have arrived 00137 ros::spinOnce(); 00138 00139 g_count = 0; 00140 // wait for reconnect/new messages to arrive 00141 start = ros::WallTime::now(); 00142 while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0)) 00143 { 00144 ros::WallDuration(0.01).sleep(); 00145 ros::spinOnce(); 00146 } 00147 00148 ASSERT_GT(g_count, 0); 00149 } 00150 00151 int main(int argc, char** argv) 00152 { 00153 testing::InitGoogleTest(&argc, argv); 00154 ros::init(argc, argv, "subscribe_retry_tcp"); 00155 ros::NodeHandle nh; 00156 return RUN_ALL_TESTS(); 00157 }