wait_for_message.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2NULLNULL8, 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 #include <string> 00033 #include <sstream> 00034 #include <fstream> 00035 00036 #include <gtest/gtest.h> 00037 00038 #include <time.h> 00039 #include <stdlib.h> 00040 00041 #include "ros/ros.h" 00042 #include <test_roscpp/TestArray.h> 00043 00044 using namespace ros; 00045 using namespace test_roscpp; 00046 00047 TEST(Roscpp, waitForMessage) 00048 { 00049 ros::NodeHandle nh; 00050 ros::Publisher pub = nh.advertise<TestArray>("test", 1, true); 00051 pub.publish(TestArray()); 00052 TestArrayConstPtr msg = topic::waitForMessage<TestArray>("test"); 00053 ASSERT_TRUE(msg); 00054 } 00055 00056 TEST(Roscpp, waitForMessageWithTimeout) 00057 { 00058 ros::NodeHandle nh; 00059 00060 ros::Time start = ros::Time::now(); 00061 TestArrayConstPtr msg = topic::waitForMessage<TestArray>("test", ros::Duration(1.0)); 00062 ros::Time end = ros::Time::now(); 00063 ros::Duration dur = end - start; 00064 ASSERT_GE(dur, ros::Duration(1.0)); 00065 ASSERT_FALSE(msg); 00066 } 00067 00068 int main(int argc, char** argv) 00069 { 00070 testing::InitGoogleTest(&argc, argv); 00071 ros::init(argc, argv, "wait_for_message"); 00072 00073 ros::NodeHandle nh; 00074 00075 return RUN_ALL_TESTS(); 00076 } 00077