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00036 #include <string>
00037 #include <sstream>
00038 #include <fstream>
00039
00040 #include <gtest/gtest.h>
00041
00042 #include <time.h>
00043 #include <stdlib.h>
00044
00045 #include "ros/ros.h"
00046 #include "ros/callback_queue.h"
00047 #include <test_roscpp/TestArray.h>
00048 #include <test_roscpp/TestStringString.h>
00049
00050 #include <boost/thread.hpp>
00051
00052 using namespace ros;
00053 using namespace test_roscpp;
00054
00055 TEST(RoscppHandles, nodeHandleConstructionDestruction)
00056 {
00057 {
00058 ASSERT_FALSE(ros::isStarted());
00059
00060 ros::NodeHandle n1;
00061 ASSERT_TRUE(ros::isStarted());
00062
00063 {
00064 ros::NodeHandle n2;
00065 ASSERT_TRUE(ros::isStarted());
00066
00067 {
00068 ros::NodeHandle n3(n2);
00069 ASSERT_TRUE(ros::isStarted());
00070
00071 {
00072 ros::NodeHandle n4 = n3;
00073 ASSERT_TRUE(ros::isStarted());
00074 }
00075 }
00076 }
00077
00078 ASSERT_TRUE(ros::isStarted());
00079 }
00080
00081 ASSERT_FALSE(ros::isStarted());
00082
00083 {
00084 ros::NodeHandle n;
00085 ASSERT_TRUE(ros::isStarted());
00086 }
00087
00088 ASSERT_FALSE(ros::isStarted());
00089 }
00090
00091 TEST(RoscppHandles, nodeHandleParentWithRemappings)
00092 {
00093 ros::M_string remappings;
00094 remappings["a"] = "b";
00095 remappings["c"] = "d";
00096 ros::NodeHandle n1("", remappings);
00097
00098
00099 EXPECT_STREQ(n1.resolveName("a").c_str(), "/b");
00100 EXPECT_STREQ(n1.resolveName("/a").c_str(), "/b");
00101 EXPECT_STREQ(n1.resolveName("c").c_str(), "/d");
00102 EXPECT_STREQ(n1.resolveName("/c").c_str(), "/d");
00103
00104 ros::NodeHandle n2(n1, "my_ns");
00105 EXPECT_STREQ(n2.resolveName("a").c_str(), "/my_ns/a");
00106 EXPECT_STREQ(n2.resolveName("/a").c_str(), "/b");
00107 EXPECT_STREQ(n2.resolveName("c").c_str(), "/my_ns/c");
00108 EXPECT_STREQ(n2.resolveName("/c").c_str(), "/d");
00109
00110 ros::NodeHandle n3(n2);
00111 EXPECT_STREQ(n3.resolveName("a").c_str(), "/my_ns/a");
00112 EXPECT_STREQ(n3.resolveName("/a").c_str(), "/b");
00113 EXPECT_STREQ(n3.resolveName("c").c_str(), "/my_ns/c");
00114 EXPECT_STREQ(n3.resolveName("/c").c_str(), "/d");
00115
00116 ros::NodeHandle n4;
00117 n4 = n3;
00118 EXPECT_STREQ(n4.resolveName("a").c_str(), "/my_ns/a");
00119 EXPECT_STREQ(n4.resolveName("/a").c_str(), "/b");
00120 EXPECT_STREQ(n4.resolveName("c").c_str(), "/my_ns/c");
00121 EXPECT_STREQ(n4.resolveName("/c").c_str(), "/d");
00122 }
00123
00124 int32_t g_recv_count = 0;
00125 void subscriberCallback(const test_roscpp::TestArray::ConstPtr& msg)
00126 {
00127 ++g_recv_count;
00128 }
00129
00130 class SubscribeHelper
00131 {
00132 public:
00133 SubscribeHelper()
00134 : recv_count_(0)
00135 {}
00136
00137 void callback(const test_roscpp::TestArray::ConstPtr& msg)
00138 {
00139 ++recv_count_;
00140 }
00141
00142 int32_t recv_count_;
00143 };
00144
00145 TEST(RoscppHandles, subscriberValidity)
00146 {
00147 ros::NodeHandle n;
00148
00149 ros::Subscriber sub;
00150 ASSERT_FALSE(sub);
00151
00152 sub = n.subscribe("test", 0, subscriberCallback);
00153 ASSERT_TRUE(sub);
00154 }
00155
00156 TEST(RoscppHandles, subscriberDestructionMultipleCallbacks)
00157 {
00158 ros::NodeHandle n;
00159 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("test", 0);
00160 test_roscpp::TestArray msg;
00161
00162 {
00163 SubscribeHelper helper;
00164 ros::Subscriber sub_class = n.subscribe("test", 0, &SubscribeHelper::callback, &helper);
00165
00166 ros::Duration d(0.05);
00167 int32_t last_class_count = helper.recv_count_;
00168 while (last_class_count == helper.recv_count_)
00169 {
00170 pub.publish(msg);
00171 ros::spinOnce();
00172 d.sleep();
00173 }
00174
00175 int32_t last_fn_count = g_recv_count;
00176 {
00177 ros::Subscriber sub_fn = n.subscribe("test", 0, subscriberCallback);
00178
00179 ASSERT_TRUE(sub_fn != sub_class);
00180
00181 last_fn_count = g_recv_count;
00182 while (last_fn_count == g_recv_count)
00183 {
00184 pub.publish(msg);
00185 ros::spinOnce();
00186 d.sleep();
00187 }
00188 }
00189
00190 last_fn_count = g_recv_count;
00191 last_class_count = helper.recv_count_;
00192 while (last_class_count == helper.recv_count_)
00193 {
00194 pub.publish(msg);
00195 ros::spinOnce();
00196 d.sleep();
00197 }
00198 d.sleep();
00199
00200 ASSERT_EQ(last_fn_count, g_recv_count);
00201 }
00202 }
00203
00204 TEST(RoscppHandles, subscriberSpinAfterSubscriberShutdown)
00205 {
00206 ros::NodeHandle n;
00207 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("test", 0);
00208 test_roscpp::TestArray msg;
00209
00210 int32_t last_fn_count = g_recv_count;
00211
00212 {
00213 ros::Subscriber sub_fn = n.subscribe("test", 0, subscriberCallback);
00214
00215 last_fn_count = g_recv_count;
00216 for (int i = 0; i < 10; ++i)
00217 {
00218 pub.publish(msg);
00219 }
00220
00221 ros::WallDuration(0.1).sleep();
00222 }
00223
00224 ros::spinOnce();
00225
00226 ASSERT_EQ(last_fn_count, g_recv_count);
00227 }
00228
00229 TEST(RoscppHandles, subscriberGetNumPublishers)
00230 {
00231 ros::NodeHandle n;
00232 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("test", 0);
00233
00234 ros::Subscriber sub = n.subscribe("test", 0, subscriberCallback);
00235
00236 ros::WallTime begin = ros::WallTime::now();
00237 while (sub.getNumPublishers() < 1 && (ros::WallTime::now() - begin < ros::WallDuration(1)))
00238 {
00239 ros::spinOnce();
00240 ros::WallDuration(0.1).sleep();
00241 }
00242
00243 ASSERT_EQ(sub.getNumPublishers(), 1ULL);
00244 }
00245
00246 TEST(RoscppHandles, subscriberCopy)
00247 {
00248 ros::NodeHandle n;
00249
00250 g_recv_count = 0;
00251
00252 {
00253 ros::Subscriber sub1 = n.subscribe("/test", 0, subscriberCallback);
00254
00255 {
00256 ros::Subscriber sub2 = sub1;
00257
00258 {
00259 ros::Subscriber sub3(sub2);
00260
00261 ASSERT_TRUE(sub3 == sub2);
00262
00263 V_string topics;
00264 this_node::getSubscribedTopics(topics);
00265 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00266 }
00267
00268 ASSERT_TRUE(sub2 == sub1);
00269
00270 V_string topics;
00271 this_node::getSubscribedTopics(topics);
00272 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00273 }
00274
00275 V_string topics;
00276 this_node::getSubscribedTopics(topics);
00277 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00278 }
00279
00280 V_string topics;
00281 this_node::getSubscribedTopics(topics);
00282 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") == topics.end());
00283 }
00284
00285 TEST(RoscppHandles, publisherCopy)
00286 {
00287 ros::NodeHandle n;
00288
00289 g_recv_count = 0;
00290
00291 {
00292 ros::Publisher pub1 = n.advertise<test_roscpp::TestArray>("/test", 0);
00293
00294 {
00295 ros::Publisher pub2 = pub1;
00296
00297 {
00298 ros::Publisher pub3(pub2);
00299
00300 ASSERT_TRUE(pub3 == pub2);
00301
00302 V_string topics;
00303 this_node::getAdvertisedTopics(topics);
00304 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00305 }
00306
00307 ASSERT_TRUE(pub2 == pub1);
00308
00309 V_string topics;
00310 this_node::getAdvertisedTopics(topics);
00311 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00312 }
00313
00314 V_string topics;
00315 this_node::getAdvertisedTopics(topics);
00316 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00317 }
00318
00319 V_string topics;
00320 this_node::getAdvertisedTopics(topics);
00321 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") == topics.end());
00322 }
00323
00324 TEST(RoscppHandles, publisherMultiple)
00325 {
00326 ros::NodeHandle n;
00327
00328 g_recv_count = 0;
00329
00330 {
00331 ros::Publisher pub1 = n.advertise<test_roscpp::TestArray>("/test", 0);
00332
00333 {
00334 ros::Publisher pub2 = n.advertise<test_roscpp::TestArray>("/test", 0);
00335
00336 ASSERT_TRUE(pub1 != pub2);
00337
00338 V_string topics;
00339 this_node::getAdvertisedTopics(topics);
00340 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00341 }
00342
00343 V_string topics;
00344 this_node::getAdvertisedTopics(topics);
00345 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") != topics.end());
00346 }
00347
00348 V_string topics;
00349 this_node::getAdvertisedTopics(topics);
00350 ASSERT_TRUE(std::find(topics.begin(), topics.end(), "/test") == topics.end());
00351 }
00352
00353 bool serviceCallback(TestStringString::Request& req, TestStringString::Response& res)
00354 {
00355 return true;
00356 }
00357
00358 void pump(ros::CallbackQueue* queue)
00359 {
00360 while (queue->isEnabled())
00361 {
00362 queue->callAvailable(ros::WallDuration(0.1));
00363 }
00364 }
00365
00366 TEST(RoscppHandles, serviceAdv)
00367 {
00368 ros::NodeHandle n;
00369 TestStringString t;
00370
00371 ros::CallbackQueue queue;
00372 n.setCallbackQueue(&queue);
00373 boost::thread th(boost::bind(pump, &queue));
00374 {
00375 ros::ServiceServer srv = n.advertiseService("/test_srv", serviceCallback);
00376
00377 EXPECT_TRUE(ros::service::call("/test_srv", t));
00378 }
00379
00380 queue.disable();
00381 th.join();
00382
00383 ASSERT_FALSE(ros::service::call("/test_srv", t));
00384 }
00385
00386 TEST(RoscppHandles, serviceAdvCopy)
00387 {
00388 ros::NodeHandle n;
00389 TestStringString t;
00390
00391 ros::CallbackQueue queue;
00392 n.setCallbackQueue(&queue);
00393 boost::thread th(boost::bind(pump, &queue));
00394
00395 {
00396 ros::ServiceServer srv1 = n.advertiseService("/test_srv", serviceCallback);
00397
00398 {
00399 ros::ServiceServer srv2 = srv1;
00400
00401 {
00402 ros::ServiceServer srv3(srv2);
00403
00404 ASSERT_TRUE(srv3 == srv2);
00405
00406 EXPECT_TRUE(ros::service::call("/test_srv", t));
00407 }
00408
00409 ASSERT_TRUE(srv2 == srv1);
00410
00411 EXPECT_TRUE(ros::service::call("/test_srv", t));
00412 }
00413
00414 EXPECT_TRUE(ros::service::call("/test_srv", t));
00415 }
00416
00417 ASSERT_FALSE(ros::service::call("/test_srv", t));
00418
00419 queue.disable();
00420 th.join();
00421 }
00422
00423 TEST(RoscppHandles, serviceAdvMultiple)
00424 {
00425 ros::NodeHandle n;
00426
00427 ros::ServiceServer srv = n.advertiseService("/test_srv", serviceCallback);
00428 ros::ServiceServer srv2 = n.advertiseService("/test_srv", serviceCallback);
00429 ASSERT_TRUE(srv);
00430 ASSERT_FALSE(srv2);
00431
00432 ASSERT_TRUE(srv != srv2);
00433 }
00434
00435 int32_t g_sub_count = 0;
00436 void connectedCallback(const ros::SingleSubscriberPublisher& pub)
00437 {
00438 ++g_sub_count;
00439 }
00440
00441 TEST(RoscppHandles, trackedObjectWithAdvertiseSubscriberCallback)
00442 {
00443 ros::NodeHandle n;
00444
00445 boost::shared_ptr<char> tracked(new char);
00446
00447 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("/test", 0, connectedCallback, SubscriberStatusCallback(), tracked);
00448
00449 g_recv_count = 0;
00450 g_sub_count = 0;
00451 ros::Subscriber sub = n.subscribe("/test", 0, subscriberCallback);
00452
00453 Duration d(0.01);
00454 while (g_sub_count == 0)
00455 {
00456 d.sleep();
00457 ros::spinOnce();
00458 }
00459 ASSERT_EQ(g_sub_count, 1);
00460
00461 sub.shutdown();
00462
00463 tracked.reset();
00464 sub = n.subscribe("/test", 0, subscriberCallback);
00465
00466 Duration d2(0.01);
00467 for (int i = 0; i < 10; ++i)
00468 {
00469 d2.sleep();
00470 ros::spinOnce();
00471 }
00472
00473 ASSERT_EQ(g_sub_count, 1);
00474 }
00475
00476 TEST(RoscppHandles, spinAfterHandleShutdownWithAdvertiseSubscriberCallback)
00477 {
00478 ros::NodeHandle n;
00479 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("/test", 0, connectedCallback, SubscriberStatusCallback());
00480
00481 g_sub_count = 0;
00482 ros::Subscriber sub = n.subscribe("/test", 0, subscriberCallback);
00483
00484 while (pub.getNumSubscribers() == 0)
00485 {
00486 ros::WallDuration(0.01).sleep();
00487 }
00488
00489 pub.shutdown();
00490
00491 ros::spinOnce();
00492
00493 ASSERT_EQ(g_sub_count, 0);
00494 }
00495
00496 TEST(RoscppHandles, multiplePublishersWithSubscriberConnectCallback)
00497 {
00498 ros::NodeHandle n;
00499 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("/test", 0, connectedCallback, SubscriberStatusCallback());
00500
00501 g_sub_count = 0;
00502 ros::Subscriber sub = n.subscribe("/test", 0, subscriberCallback);
00503
00504 while (g_sub_count == 0)
00505 {
00506 ros::WallDuration(0.01).sleep();
00507 ros::spinOnce();
00508 }
00509
00510 ASSERT_EQ(g_sub_count, 1);
00511 g_sub_count = 0;
00512
00513 ros::Publisher pub2 = n.advertise<test_roscpp::TestArray>("/test", 0, connectedCallback, SubscriberStatusCallback());
00514 ros::spinOnce();
00515
00516 ASSERT_EQ(g_sub_count, 1);
00517 }
00518
00519 class ServiceClass
00520 {
00521 public:
00522 bool serviceCallback(TestStringString::Request& req, TestStringString::Response& res)
00523 {
00524 return true;
00525 }
00526 };
00527
00528 TEST(RoscppHandles, trackedObjectWithServiceCallback)
00529 {
00530 ros::NodeHandle n;
00531
00532 ros::CallbackQueue queue;
00533 n.setCallbackQueue(&queue);
00534 boost::thread th(boost::bind(pump, &queue));
00535
00536 boost::shared_ptr<ServiceClass> tracked(new ServiceClass);
00537 ros::ServiceServer srv = n.advertiseService("/test_srv", &ServiceClass::serviceCallback, tracked);
00538
00539 TestStringString t;
00540 EXPECT_TRUE(ros::service::call("/test_srv", t));
00541
00542 tracked.reset();
00543
00544 ASSERT_FALSE(ros::service::call("/test_srv", t));
00545
00546 queue.disable();
00547 th.join();
00548 }
00549
00550 TEST(RoscppHandles, trackedObjectWithSubscriptionCallback)
00551 {
00552 ros::NodeHandle n;
00553
00554 boost::shared_ptr<SubscribeHelper> tracked(new SubscribeHelper);
00555
00556 g_recv_count = 0;
00557 ros::Subscriber sub = n.subscribe("/test", 0, &SubscribeHelper::callback, tracked);
00558
00559 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("/test", 0);
00560
00561 test_roscpp::TestArray msg;
00562 Duration d(0.01);
00563 while (tracked->recv_count_ == 0)
00564 {
00565 pub.publish(msg);
00566 d.sleep();
00567 ros::spinOnce();
00568 }
00569 ASSERT_GE(tracked->recv_count_, 1);
00570
00571 tracked.reset();
00572
00573 pub.publish(msg);
00574 Duration d2(0.01);
00575 for (int i = 0; i < 10; ++i)
00576 {
00577 d2.sleep();
00578 ros::spinOnce();
00579 }
00580 }
00581
00582 TEST(RoscppHandles, nodeHandleNames)
00583 {
00584 ros::NodeHandle n1;
00585 EXPECT_STREQ(n1.resolveName("blah").c_str(), "/blah");
00586
00587 try
00588 {
00589 n1.resolveName("~blah");
00590 FAIL();
00591 }
00592 catch (ros::InvalidNameException&)
00593 {
00594 }
00595
00596 ros::NodeHandle n2("internal_ns");
00597 EXPECT_STREQ(n2.resolveName("blah").c_str(), "/internal_ns/blah");
00598
00599 ros::NodeHandle n3(n2, "2");
00600 EXPECT_STREQ(n3.resolveName("blah").c_str(), "/internal_ns/2/blah");
00601
00602 ros::NodeHandle n4("~");
00603 EXPECT_STREQ(n4.resolveName("blah").c_str(), (ros::this_node::getName() + "/blah").c_str());
00604
00605 try {
00606 ros::NodeHandle n5(n2, "illegal_name!!!");
00607 FAIL();
00608 } catch (ros::InvalidNameException&) { }
00609
00610 }
00611
00612 TEST(RoscppHandles, nodeHandleShutdown)
00613 {
00614 ros::NodeHandle n;
00615
00616 ros::Subscriber sub = n.subscribe("/test", 0, subscriberCallback);
00617 ros::Publisher pub = n.advertise<test_roscpp::TestArray>("/test", 0);
00618 ros::ServiceServer srv = n.advertiseService("/test_srv", serviceCallback);
00619
00620 n.shutdown();
00621
00622 ASSERT_FALSE(pub);
00623 ASSERT_FALSE(sub);
00624 ASSERT_FALSE(srv);
00625 }
00626
00627 int main(int argc, char** argv)
00628 {
00629 testing::InitGoogleTest(&argc, argv);
00630 ros::init(argc, argv, "test_handles");
00631
00632 return RUN_ALL_TESTS();
00633 }
00634