subscribe_unsubscribe.cpp
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00001 /*
00002  * Copyright (c) 2008, 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: Brian Gerkey */
00031 
00032 /*
00033  * Subscribe to a topic, expecting to get a single message.
00034  */
00035 
00036 #include <string>
00037 
00038 #include <gtest/gtest.h>
00039 
00040 #include <time.h>
00041 #include <stdlib.h>
00042 
00043 #include "ros/ros.h"
00044 #include <test_roscpp/TestArray.h>
00045 
00046 #include <boost/thread.hpp>
00047 
00048 int g_argc;
00049 char** g_argv;
00050 
00051 class Subscriptions : public testing::Test
00052 {
00053 public:
00054   ros::NodeHandle nh_;
00055   ros::Subscriber sub_;
00056 
00057   void messageCallback(const test_roscpp::TestArrayConstPtr& msg)
00058   {
00059     ROS_INFO("in callback");
00060 
00061     if(!sub_)
00062     {
00063       ROS_INFO("but not subscribed!");
00064       FAIL();
00065     }
00066   }
00067 
00068   void autoUnsubscribeCallback(const test_roscpp::TestArrayConstPtr& msg)
00069   {
00070     ROS_INFO("in autounsub callback");
00071     sub_.shutdown();
00072   }
00073 
00074 protected:
00075   Subscriptions() {}
00076 };
00077 
00078 TEST_F(Subscriptions, subUnsub)
00079 {
00080   sub_.shutdown();
00081 
00082   for(int i=0;i<100;i++)
00083   {
00084     if(!sub_)
00085     {
00086       sub_ = nh_.subscribe("roscpp/pubsub_test", 0, &Subscriptions::messageCallback, (Subscriptions*)this);
00087       ASSERT_TRUE(sub_);
00088     }
00089     else
00090     {
00091       sub_.shutdown();
00092       ASSERT_FALSE(sub_);
00093     }
00094 
00095     ros::WallDuration(0.01).sleep();
00096     ros::spinOnce();
00097   }
00098 }
00099 
00100 TEST_F(Subscriptions, unsubInCallback)
00101 {
00102   sub_ = nh_.subscribe("roscpp/pubsub_test", 0, &Subscriptions::autoUnsubscribeCallback, (Subscriptions*)this);
00103 
00104   while (sub_ && ros::ok())
00105   {
00106     ros::WallDuration(0.01).sleep();
00107     ros::spinOnce();
00108   }
00109 }
00110 
00111 void spinThread(bool volatile* cont)
00112 {
00113   while (*cont)
00114   {
00115     ros::spinOnce();
00116     ros::Duration(0.001).sleep();
00117   }
00118 }
00119 
00120 void unsubscribeAfterBarrierWait(boost::barrier* barrier, ros::Subscriber& sub)
00121 {
00122   barrier->wait();
00123 
00124   sub.shutdown();
00125 }
00126 
00127 TEST_F(Subscriptions, unsubInCallbackAndOtherThread)
00128 {
00129   boost::barrier barrier(2);
00130   for (int i = 0; i < 100; ++i)
00131   {
00132     ros::Subscriber sub;
00133     sub_ = nh_.subscribe<test_roscpp::TestArray>("roscpp/pubsub_test", 1, boost::bind(unsubscribeAfterBarrierWait, &barrier, boost::ref(sub)));
00134     sub = sub_;
00135 
00136     bool cont = true;
00137     boost::thread t(spinThread, &cont);
00138 
00139     barrier.wait();
00140 
00141     sub_.shutdown();
00142     cont = false;
00143     t.join();
00144   }
00145 }
00146 
00147 int
00148 main(int argc, char** argv)
00149 {
00150   testing::InitGoogleTest(&argc, argv);
00151 
00152   g_argc = argc;
00153   g_argv = argv;
00154 
00155   ros::init(g_argc, g_argv, "subscribe_unsubscribe");
00156 
00157   if (g_argc != 1)
00158   {
00159     puts("Too many arguments\n");
00160     return -1;
00161   }
00162 
00163   return RUN_ALL_TESTS();
00164 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Mon Oct 6 2014 11:47:21