test_combiner_approximate_time.cpp

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/****************************************************************************
 *
 * fkie_message_filters
 * Copyright © 2018-2020 Fraunhofer FKIE
 * Author: Timo Röhling
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 ****************************************************************************/
#include "test.h"
#include <fkie_message_filters/combiner_policies/approximate_time.h>
#include <fkie_message_filters/combiner.h>
#include <fkie_message_filters/user_source.h>
#include <fkie_message_filters/simple_user_filter.h>
 
TEST(fkie_message_filters, ApproximateTimeCombiner)
{
    using IntegerStamped = Stamped<int>;
    using Source = mf::UserSource<IntegerStamped>;
    using Combiner = mf::Combiner<mf::combiner_policies::ApproximateTime, Source::Output, Source::Output, Source::Output>;
    using Sink = mf::SimpleUserFilter<Combiner::Output>;
 
    std::size_t callback_counts = 0;
    Source src1, src2, src3;
    Combiner combiner(Combiner::Policy().set_max_age(ros::Duration(10, 0)));
    Sink snk;
    combiner.connect_to_sources(src1, src2, src3);
    combiner.connect_to_sink(snk);
    snk.set_processing_function(
        [&](const IntegerStamped& m1, const IntegerStamped& m2, const IntegerStamped& m3) -> bool
        {
            ++callback_counts;
            if (m1 != m2) throw std::domain_error("messages do not match");
            if (m1 != m3) throw std::domain_error("messages do not match");
            return true;
        }
    );
    src1(IntegerStamped(0, "", ros::Time(99, 2)));
    src2(IntegerStamped(1, "", ros::Time(100, 1)));
    // Extra message
    src2(IntegerStamped(1, "", ros::Time(100, 20)));
    src3(IntegerStamped(1, "", ros::Time(100, 2)));
    src1(IntegerStamped(1, "", ros::Time(100, 0)));
    src1(IntegerStamped(2, "", ros::Time(101, 0)));
    src2(IntegerStamped(2, "", ros::Time(101, 2)));
    src3(IntegerStamped(2, "", ros::Time(101, 1)));
    ASSERT_EQ(1u, callback_counts);
    src1(IntegerStamped(3, "", ros::Time(102, 0)));
    src2(IntegerStamped(3, "", ros::Time(102, 0)));
    src3(IntegerStamped(3, "", ros::Time(102, 0)));
    ASSERT_EQ(3u, callback_counts);
    src1(IntegerStamped(4, "", ros::Time(103, 1)));
    src2(IntegerStamped(4, "", ros::Time(103, 0)));
    // missing message
    ASSERT_EQ(3u, callback_counts);
    src1(IntegerStamped(5, "", ros::Time(104, 2)));
    src2(IntegerStamped(5, "", ros::Time(104, 1)));
    src3(IntegerStamped(5, "", ros::Time(104, 0)));
    ASSERT_EQ(4u, callback_counts);
    /* Check that old messages get dropped */
    src1(IntegerStamped(0, "", ros::Time(105, 0)));
    src2(IntegerStamped(6, "", ros::Time(116, 0)));
    src3(IntegerStamped(6, "", ros::Time(116, 0)));
    src1(IntegerStamped(7, "", ros::Time(130, 0)));
    src2(IntegerStamped(7, "", ros::Time(130, 0)));
    src3(IntegerStamped(7, "", ros::Time(130, 0)));
    ASSERT_EQ(5u, callback_counts);
}