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00036 #include <string>
00037
00038 #include <gtest/gtest.h>
00039
00040 #include <stdlib.h>
00041
00042 #include "ros/ros.h"
00043
00044 uint32_t g_msg_constructor = 0;
00045 uint32_t g_msg2_constructor = 0;
00046
00047 struct Msg
00048 {
00049 Msg()
00050 : serialized(false)
00051 , deserialized(false)
00052 {
00053 ++g_msg_constructor;
00054 }
00055
00056 mutable bool serialized;
00057 bool deserialized;
00058 };
00059 typedef boost::shared_ptr<Msg const> MsgConstPtr;
00060
00061 namespace ros
00062 {
00063 namespace message_traits
00064 {
00065 template<>
00066 struct MD5Sum<Msg>
00067 {
00068 static const char* value() { return "MsgMD5Sum"; }
00069 static const char* value(const Msg&) { return "MsgMD5Sum"; }
00070 };
00071
00072 template<>
00073 struct DataType<Msg>
00074 {
00075 static const char* value() { return "test_roscpp/MsgDataType"; }
00076 static const char* value(const Msg&) { return "test_roscpp/MsgDataType"; }
00077 };
00078
00079 template<>
00080 struct Definition<Msg>
00081 {
00082 static const char* value() { return ""; }
00083 static const char* value(const Msg&) { return ""; }
00084 };
00085 }
00086
00087 namespace serialization
00088 {
00089 template<>
00090 struct Serializer<Msg>
00091 {
00092 template<typename Stream>
00093 inline static void write(Stream& stream, const Msg& v)
00094 {
00095 v.serialized = true;
00096 }
00097
00098 template<typename Stream>
00099 inline static void read(Stream& stream, Msg& v)
00100 {
00101 v.deserialized = true;
00102 }
00103
00104 inline static uint32_t serializedLength(const Msg& v)
00105 {
00106 return 0;
00107 }
00108 };
00109 }
00110 }
00111
00112 MsgConstPtr g_msg;
00113
00114 struct Msg2
00115 {
00116 Msg2()
00117 : serialized(false)
00118 , deserialized(false)
00119 {
00120 ++g_msg2_constructor;
00121 }
00122
00123 mutable bool serialized;
00124 bool deserialized;
00125 };
00126 typedef boost::shared_ptr<Msg2 const> Msg2ConstPtr;
00127
00128 namespace ros
00129 {
00130 namespace message_traits
00131 {
00132 template<>
00133 struct MD5Sum<Msg2>
00134 {
00135 static const char* value() { return "MsgMD5Sum"; }
00136 static const char* value(const Msg2&) { return "MsgMD5Sum"; }
00137 };
00138
00139 template<>
00140 struct DataType<Msg2>
00141 {
00142 static const char* value() { return "test_roscpp/MsgDataType"; }
00143 static const char* value(const Msg2&) { return "test_roscpp/MsgDataType"; }
00144 };
00145
00146 template<>
00147 struct Definition<Msg2>
00148 {
00149 static const char* value() { return ""; }
00150 static const char* value(const Msg2&) { return ""; }
00151 };
00152 }
00153
00154 namespace serialization
00155 {
00156 template<>
00157 struct Serializer<Msg2>
00158 {
00159 template<typename Stream>
00160 inline static void write(Stream& stream, const Msg2& v)
00161 {
00162 v.serialized = true;
00163 }
00164
00165 template<typename Stream>
00166 inline static void read(Stream& stream, Msg2& v)
00167 {
00168 v.deserialized = true;
00169 }
00170
00171 inline static uint32_t serializedLength(const Msg2& v)
00172 {
00173 return 0;
00174 }
00175 };
00176 }
00177 }
00178
00179 void messageCallback(const MsgConstPtr& msg)
00180 {
00181 g_msg = msg;
00182 }
00183
00184 TEST(IntraprocessSubscriptions, noCopy)
00185 {
00186 g_msg.reset();
00187 g_msg_constructor = 0;
00188
00189 ros::NodeHandle nh;
00190 ros::Subscriber sub = nh.subscribe("test", 0, messageCallback);
00191 ros::Publisher pub = nh.advertise<Msg>("test", 0);
00192
00193 MsgConstPtr msg(new Msg);
00194
00195 while (pub.getNumSubscribers() == 0)
00196 {
00197 ros::Duration(0.01).sleep();
00198 }
00199
00200 pub.publish(msg);
00201
00202 while (!g_msg)
00203 {
00204 ros::spinOnce();
00205 ros::Duration(0.01).sleep();
00206 }
00207
00208 ASSERT_TRUE(g_msg);
00209 EXPECT_EQ(g_msg.get(), msg.get());
00210 EXPECT_FALSE(g_msg->serialized);
00211 EXPECT_FALSE(g_msg->deserialized);
00212 EXPECT_EQ(g_msg_constructor, 1ULL);
00213 }
00214
00215 TEST(IntraprocessSubscriptions, differentRTTI)
00216 {
00217 g_msg_constructor = 0;
00218 g_msg.reset();
00219
00220 ros::NodeHandle nh;
00221 ros::Subscriber sub = nh.subscribe("test", 0, messageCallback);
00222 ros::Publisher pub = nh.advertise<Msg2>("test", 0);
00223
00224 Msg2ConstPtr msg(new Msg2);
00225
00226 while (pub.getNumSubscribers() == 0)
00227 {
00228 ros::Duration(0.01).sleep();
00229 }
00230
00231 pub.publish(msg);
00232
00233 while (!g_msg)
00234 {
00235 ros::spinOnce();
00236 ros::Duration(0.01).sleep();
00237 }
00238
00239 ASSERT_TRUE(g_msg);
00240 EXPECT_NE((void*)g_msg.get(), (void*)msg.get());
00241 EXPECT_TRUE(msg->serialized);
00242 EXPECT_TRUE(g_msg->deserialized);
00243 EXPECT_EQ(g_msg_constructor, 1ULL);
00244 EXPECT_EQ(g_msg2_constructor, 1ULL);
00245 }
00246
00247 Msg2ConstPtr g_msg2;
00248 void messageCallback2(const Msg2ConstPtr& msg)
00249 {
00250 g_msg2 = msg;
00251 }
00252
00253 TEST(IntraprocessSubscriptions, noCopyAndDifferentRTTI)
00254 {
00255 g_msg.reset();
00256
00257 ros::NodeHandle nh;
00258 ros::Subscriber sub1 = nh.subscribe("test", 0, messageCallback);
00259 ros::Subscriber sub2 = nh.subscribe("test", 0, messageCallback2);
00260 ros::Publisher pub = nh.advertise<Msg2>("test", 0);
00261
00262 Msg2ConstPtr msg(new Msg2);
00263
00264 while (pub.getNumSubscribers() == 0)
00265 {
00266 ros::Duration(0.01).sleep();
00267 }
00268
00269 pub.publish(msg);
00270
00271 while (!g_msg || !g_msg2)
00272 {
00273 ros::spinOnce();
00274 ros::Duration(0.01).sleep();
00275 }
00276
00277 ASSERT_TRUE(g_msg);
00278 EXPECT_NE((void*)g_msg.get(), (void*)msg.get());
00279 EXPECT_TRUE(msg->serialized);
00280 EXPECT_TRUE(g_msg->deserialized);
00281
00282 ASSERT_TRUE(g_msg2);
00283 EXPECT_EQ(g_msg2.get(), msg.get());
00284 EXPECT_TRUE(g_msg2->serialized);
00285 EXPECT_FALSE(g_msg2->deserialized);
00286 }
00287
00288 int main(int argc, char** argv)
00289 {
00290 testing::InitGoogleTest(&argc, argv);
00291 ros::init(argc, argv, "intraprocess_subscriptions");
00292
00293 ros::NodeHandle nh;
00294
00295 return RUN_ALL_TESTS();
00296 }
00297