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00032 #include <gtest/gtest.h>
00033 #include <ros/ros.h>
00034 #include <ros/callback_queue.h>
00035
00036 #include "test_roscpp/TestArray.h"
00037
00038 uint32_t g_pub_count = 0;
00039
00040 void callback(const test_roscpp::TestArrayConstPtr& msg)
00041 {
00042
00043 }
00044
00045 TEST(LoadsOfPublishers, waitForAll)
00046 {
00047 ros::NodeHandle nh;
00048 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1000, callback);
00049
00050 while (sub.getNumPublishers() < g_pub_count)
00051 {
00052 ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
00053 }
00054
00055 ros::WallDuration(10).sleep();
00056 ros::spinOnce();
00057 ASSERT_EQ(sub.getNumPublishers(), g_pub_count);
00058 }
00059
00060 struct Helper
00061 {
00062 void callback(const test_roscpp::TestArrayConstPtr& msg)
00063 {
00064 alive[(*msg->__connection_header)["callerid"]] = true;
00065 }
00066
00067 std::map<std::string, bool> alive;
00068 };
00069
00070 TEST(LoadsOfPublishers, receiveFromAll)
00071 {
00072 ros::NodeHandle nh;
00073 Helper helper;
00074 ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 1000, &Helper::callback, &helper);
00075
00076 while (helper.alive.size() < g_pub_count)
00077 {
00078 ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
00079 }
00080 }
00081
00082 int main(int argc, char** argv)
00083 {
00084 testing::InitGoogleTest(&argc, argv);
00085 ros::init(argc, argv, "loads_of_publishers");
00086
00087 if (argc < 2)
00088 {
00089 ROS_ERROR("Not enough arguments (usage: loads_of_publishers num_publishers)");
00090 return 1;
00091 }
00092
00093 g_pub_count = atoi(argv[1]);
00094
00095 ros::NodeHandle nh;
00096
00097 return RUN_ALL_TESTS();
00098 }