loads_of_publishers.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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/* Author: Josh Faust */

#include <gtest/gtest.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>

#include "test_roscpp/TestArray.h"

uint32_t g_pub_count = 0;

void callback(const test_roscpp::TestArrayConstPtr&)
{
}

TEST(LoadsOfPublishers, waitForAll)
{
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("roscpp/pubsub_test", 1000, callback);

  while (sub.getNumPublishers() < g_pub_count)
  {
    ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
  }

  ros::WallDuration(10).sleep();
  ros::spinOnce();
  ASSERT_EQ(sub.getNumPublishers(), g_pub_count);
}

struct Helper
{
  void callback(const ros::MessageEvent<test_roscpp::TestArray>& msg_event)
  {
    alive[msg_event.getPublisherName()] = true;
  }

  std::map<std::string, bool> alive;
};

TEST(LoadsOfPublishers, receiveFromAll)
{
  ros::NodeHandle nh;
  Helper helper;
  ros::Subscriber sub = nh.subscribe("roscpp/pubsub_test", 1000, &Helper::callback, &helper);

  while (helper.alive.size() < g_pub_count)
  {
    ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
  }
}

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

  if (argc < 2)
  {
    ROS_ERROR("Not enough arguments (usage: loads_of_publishers num_publishers)");
    return 1;
  }

  g_pub_count = atoi(argv[1]);

  ros::NodeHandle nh;

  return RUN_ALL_TESTS();
}