subscriber_test.cpp

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#include "ros/subscriber.h"
#include <gtest/gtest.h>
 
 
bool callbackCalled;
unsigned char buffer[1];
 
class DummyMsg
{
public:
  int serialize(unsigned char *outbuffer) const
  {
    return 0;
  }
  int deserialize(unsigned char *inbuffer)
  {
    return 0;
  }
  const char * getType()
  {
    return "";
  }
  const char * getMD5()
  {
    return "";
  }
};
 
class DummyClass
{
public:
  static void staticCallback(const DummyMsg& msg)
  {
    callbackCalled = true;
  }
  void memberCallback(const DummyMsg& msg)
  {
    callbackCalled = true;
  }
};
 
 
TEST(TestSubscriber, testStaticCallback)
{
  ros::Subscriber<DummyMsg> sub("topic_name", &DummyClass::staticCallback);
 
  callbackCalled = false;
  sub.callback(buffer);
  ASSERT_TRUE(callbackCalled);
}
 
TEST(TestSubscriber, testMemberCallback)
{
  DummyClass cl;
  ros::Subscriber<DummyMsg, DummyClass> sub("topic_name", &DummyClass::memberCallback, &cl);
 
  callbackCalled = false;
  sub.callback(buffer);
  ASSERT_TRUE(callbackCalled);
}
 
 
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}