wait_for_message.cpp

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/* Author: Josh Faust */

#include <string>
#include <sstream>
#include <fstream>

#include <gtest/gtest.h>

#include <time.h>
#include <stdlib.h>

#include "ros/ros.h"
#include <test_roscpp/TestArray.h>

using namespace ros;
using namespace test_roscpp;

TEST(Roscpp, waitForMessage)
{
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<TestArray>("test", 1, true);
  pub.publish(TestArray());
  TestArrayConstPtr msg = topic::waitForMessage<TestArray>("test");
  ASSERT_TRUE(msg);
}

TEST(Roscpp, waitForMessageWithTimeout)
{
  ros::NodeHandle nh;

  ros::Time start = ros::Time::now();
  TestArrayConstPtr msg = topic::waitForMessage<TestArray>("test", ros::Duration(1.0));
  ros::Time end = ros::Time::now();
  ros::Duration dur = end - start;
  ASSERT_GE(dur, ros::Duration(1.0));
  ASSERT_FALSE(msg);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "wait_for_message");

  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}