pre_deserialize.cpp
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00001 /*
00002  * Copyright (c) 2010, 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 /*
00033  * Test PreDeserialize trait
00034  */
00035 
00036 #include <gtest/gtest.h>
00037 
00038 #include <ros/ros.h>
00039 
00040 // To avoid the intraprocess optimization we use two messages
00041 
00042 struct OutgoingMsg
00043 {
00044 };
00045 
00046 struct IncomingMsg
00047 {
00048   IncomingMsg()
00049   : touched(false)
00050   {}
00051 
00052   bool touched;
00053 };
00054 
00055 ROS_IMPLEMENT_SIMPLE_TOPIC_TRAITS(IncomingMsg, "my_md5sum", "test_roscpp_serialization/IncomingMsg", "\n");
00056 ROS_IMPLEMENT_SIMPLE_TOPIC_TRAITS(OutgoingMsg, "my_md5sum", "test_roscpp_serialization/OutgoingMsg", "\n");
00057 
00058 namespace ros
00059 {
00060 
00061 namespace serialization
00062 {
00063 template<>
00064 struct Serializer<IncomingMsg>
00065 {
00066   template<typename Stream>
00067   inline static void write(Stream&, const IncomingMsg&)
00068   {
00069   }
00070 
00071   template<typename Stream>
00072   inline static void read(Stream&, IncomingMsg&)
00073   {
00074   }
00075 
00076   inline static uint32_t serializedLength(const IncomingMsg&)
00077   {
00078     return 0;
00079   }
00080 };
00081 
00082 template<>
00083 struct Serializer<OutgoingMsg>
00084 {
00085   template<typename Stream>
00086   inline static void write(Stream&, const OutgoingMsg&)
00087   {
00088   }
00089 
00090   template<typename Stream>
00091   inline static void read(Stream&, OutgoingMsg&)
00092   {
00093   }
00094 
00095   inline static uint32_t serializedLength(const OutgoingMsg&)
00096   {
00097     return 0;
00098   }
00099 };
00100 
00101 template<>
00102 struct PreDeserialize<IncomingMsg>
00103 {
00104   static void notify(const PreDeserializeParams<IncomingMsg>& params)
00105   {
00106     params.message->touched = true;
00107   }
00108 };
00109 } // namespace serialization
00110 } // namespace ros
00111 
00112 boost::shared_ptr<IncomingMsg const> g_msg;
00113 void callback(const boost::shared_ptr<IncomingMsg const>& msg)
00114 {
00115   g_msg = msg;
00116 }
00117 
00118 TEST(PreDeserialize, preDeserialize)
00119 {
00120   ros::NodeHandle nh;
00121   ros::Publisher pub = nh.advertise<OutgoingMsg>("test", 0);
00122   ros::Subscriber sub = nh.subscribe("test", 0, callback);
00123 
00124   pub.publish(OutgoingMsg());
00125 
00126   while (!g_msg)
00127   {
00128     ros::spinOnce();
00129     ros::WallDuration(0.01).sleep();
00130   }
00131 
00132   EXPECT_TRUE(g_msg->touched);
00133 }
00134 
00135 int main(int argc, char** argv)
00136 {
00137   testing::InitGoogleTest(&argc, argv);
00138   ros::init(argc, argv, "builtin_types");
00139   ros::NodeHandle nh;
00140 
00141   return RUN_ALL_TESTS();
00142 }
00143 
00144 
00145 
00146 
00147 


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 03:45:23