00001 /* 00002 * Copyright (c) 2009, 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/TestWithHeader.h> 00043 00044 using namespace ros; 00045 using namespace test_roscpp; 00046 00047 uint32_t g_recv_count = 0; 00048 uint32_t g_sequence = 0; 00049 00050 void callback(const TestWithHeaderConstPtr& msg) 00051 { 00052 ++g_recv_count; 00053 g_sequence = msg->header.seq; 00054 } 00055 00056 TEST(IncrementingSequence, incrementing) 00057 { 00058 ros::NodeHandle nh; 00059 ros::Publisher pub = nh.advertise<TestWithHeader>("test_with_header", 0); 00060 ros::Subscriber sub = nh.subscribe("test_with_header", 0, callback); 00061 00062 while (g_recv_count < 50) 00063 { 00064 TestWithHeader msg; 00065 msg.header.frame_id = "blah"; 00066 msg.header.stamp = ros::Time::now(); 00067 pub.publish(msg); 00068 00069 ros::spinOnce(); 00070 ros::WallDuration(0.01).sleep(); 00071 } 00072 00073 ASSERT_GT(g_sequence, 0UL); 00074 } 00075 00076 int main(int argc, char** argv) 00077 { 00078 testing::InitGoogleTest(&argc, argv); 00079 ros::init(argc, argv, "incrementing_sequence"); 00080 00081 ros::NodeHandle nh; 00082 00083 return RUN_ALL_TESTS(); 00084 } 00085 00086