test_spinners.cpp
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00001 /*
00002  * Copyright (c) 2011, 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:
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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"
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00029 
00030 /* Author: Troy Straszheim */
00031 
00032 /*
00033  * Spinny spinner basic tests.
00034  
00035  these do NOT ACTUALLY TEST ANYTHING as it is diffcult to restart all
00036  of ros in a unit test, and there is no way to test (that I can see
00037  right now) that certain error messages are emitted, nor any way to
00038  specify that a test should fail or return an error.  So this is just
00039  a placeholder to be run manually, one test at a time (via
00040  --gtest_filter) when the next problem occurs.  Those that end with
00041  'fail' actually success, but they send a fatal error message that
00042  you're trying to spin from multiple threads.
00043 */
00044 
00045 #include <gtest/gtest.h>
00046 #include "ros/spinner.h"
00047 #include "ros/init.h"
00048 #include "ros/node_handle.h"
00049 #include <boost/thread.hpp>
00050 
00051 using namespace ros;
00052 
00053 int argc_;
00054 char** argv_;
00055 
00056 void fire_shutdown(const ros::WallTimerEvent& event) {
00057   ROS_INFO("Asking for shutdown");
00058   ros::shutdown();
00059 }
00060 
00061 #define DOIT()                                                  \
00062   ros::init(argc_, argv_, "test_spinners");                     \
00063   NodeHandle nh;                                                \
00064   ros::WallTimer t = nh.createWallTimer(ros::WallDuration(2.0), \
00065                                         &fire_shutdown);        \
00066   
00067 TEST(Spinners, spin)
00068 {
00069   DOIT();
00070   ros::spin();
00071 }
00072 
00073 TEST(Spinners, spinfail)
00074 {
00075   DOIT();
00076   boost::thread th(boost::bind(&ros::spin));
00077   ros::spin();
00078 }
00079 
00080 TEST(Spinners, single)
00081 {
00082   DOIT();
00083   SingleThreadedSpinner s;
00084   ros::spin(s);
00085 }
00086 
00087 TEST(Spinners, singlefail)
00088 {
00089   DOIT();
00090   boost::thread th(boost::bind(&ros::spin));
00091   SingleThreadedSpinner s;
00092   ros::spin(s);
00093 }
00094 
00095 TEST(Spinners, singlefail2)
00096 {
00097   DOIT();
00098   SingleThreadedSpinner s;
00099   boost::thread th(boost::bind(&ros::spin, s));
00100   ros::spin(s);
00101 }
00102 
00103 TEST(Spinners, multi)
00104 {
00105   DOIT();
00106   MultiThreadedSpinner s;
00107   ros::spin(s);
00108 }
00109 
00110 TEST(Spinners, multifail)
00111 {
00112   DOIT();
00113   boost::thread th(boost::bind(&ros::spin));
00114   MultiThreadedSpinner s;
00115   ros::spin(s);
00116 }
00117 
00118 TEST(Spinners, multifail2)
00119 {
00120   DOIT();
00121   MultiThreadedSpinner s;
00122   boost::thread th(boost::bind(&ros::spin, s));
00123   ros::spin(s);
00124 }
00125 
00126 TEST(Spinners, async)
00127 {
00128   DOIT();
00129   AsyncSpinner s(2);
00130   s.start();
00131   ros::waitForShutdown();
00132 }
00133 
00134 TEST(Spinners, asyncfail)
00135 {
00136   DOIT();
00137   boost::thread th(boost::bind(&ros::spin));
00138   AsyncSpinner s(2);
00139   s.start();
00140   ros::waitForShutdown();
00141 }
00142 
00143 
00144 int
00145 main(int argc, char** argv)
00146 {
00147   testing::InitGoogleTest(&argc, argv);
00148   argc_ = argc;
00149   argv_ = argv;
00150   return RUN_ALL_TESTS();
00151 }
00152 
00153 


roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Sat Dec 28 2013 17:35:52