loads_of_publishers.cpp
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00001 /*
00002  * Copyright (c) 2009, 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: Josh Faust */
00031 
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("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("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 }


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Fri Aug 28 2015 12:33:59