subscribe_retry_tcp.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/*
 * Author: Josh Faust
 */

#include <gtest/gtest.h>

#include <ros/ros.h>
#include <ros/connection_manager.h>

#include "test_roscpp/TestArray.h"
#include "roscpp/Empty.h"

int32_t g_count = 0;
void callback(const test_roscpp::TestArrayConstPtr& msg)
{
  ++g_count;
}

TEST(SubscribeRetryTCP, localDisconnect)
{
  g_count = 0;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, callback);
  // wait for initial messages to arrive
  ros::WallTime start = ros::WallTime::now();
  while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  ASSERT_GT(g_count, 0);

  ros::ConnectionManager::instance()->clear(ros::Connection::TransportDisconnect);

  // spin to make sure all previous messages have arrived
  ros::spinOnce();

  g_count = 0;
  // wait for reconnect/new messages to arrive
  start = ros::WallTime::now();
  while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  ASSERT_GT(g_count, 0);
}

TEST(SubscribeRetryTCP, localDisconnectNonTransportDisconnect)
{
  g_count = 0;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, callback);
  // wait for initial messages to arrive
  ros::WallTime start = ros::WallTime::now();
  while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  ASSERT_GT(g_count, 0);

  ros::ConnectionManager::instance()->clear(ros::Connection::HeaderError);

  // spin for a bit to make sure all previous messages have arrived
  start = ros::WallTime::now();
  while (ros::WallTime::now() - start < ros::WallDuration(1.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  g_count = 0;
  // make sure we did not reconnect
  start = ros::WallTime::now();
  while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  ASSERT_EQ(g_count, 0);
}

TEST(SubscribeRetryTCP, remoteDisconnect)
{
  g_count = 0;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test_roscpp/pubsub_test", 0, callback);
  // wait for initial messages to arrive
  ros::WallTime start = ros::WallTime::now();
  while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  ASSERT_GT(g_count, 0);

  roscpp::Empty::Request req;
  roscpp::Empty::Response resp;
  ros::service::call("/publish_constantly/debug/close_all_connections", req, resp);

  // spin to make sure all previous messages have arrived
  ros::spinOnce();

  g_count = 0;
  // wait for reconnect/new messages to arrive
  start = ros::WallTime::now();
  while (g_count == 0 && ros::WallTime::now() - start < ros::WallDuration(5.0))
  {
    ros::WallDuration(0.01).sleep();
    ros::spinOnce();
  }

  ASSERT_GT(g_count, 0);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "subscribe_retry_tcp");
  ros::NodeHandle nh;
  return RUN_ALL_TESTS();
}