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00034 #include <string>
00035 #include <gtest/gtest.h>
00036 #include <time.h>
00037 #include <stdlib.h>
00038 #include "ros/ros.h"
00039 #include <test_roscpp/TestArray.h>
00040 #include <test_roscpp/TestEmpty.h>
00041
00042 int g_argc;
00043 char** g_argv;
00044
00045 class Subscriptions : public testing::Test
00046 {
00047 public:
00048 ros::NodeHandle nh_;
00049 bool got_it[4], should_have_it[4];
00050 ros::Subscriber subs_[4];
00051 ros::Subscriber verify_sub_;
00052 ros::Subscriber reset_sub_;
00053 bool test_ready;
00054 int n_test;
00055
00056 void cb0(const test_roscpp::TestArrayConstPtr&) { if (!test_ready) return; got_it[0] = true; }
00057 void cb1(const test_roscpp::TestArrayConstPtr&) { if (!test_ready) return; got_it[1] = true; }
00058 void cb2(const test_roscpp::TestArrayConstPtr&) { if (!test_ready) return; got_it[2] = true; }
00059 void cb3(const test_roscpp::TestArrayConstPtr&) { if (!test_ready) return; got_it[3] = true; }
00060 void cb_verify(const test_roscpp::TestArrayConstPtr&)
00061 {
00062 if (!test_ready)
00063 return;
00064 n_test++;
00065
00066
00067
00068
00069
00070
00071 }
00072 void cb_reset(const test_roscpp::TestArrayConstPtr&)
00073 {
00074 got_it[0] = got_it[1] = got_it[2] = got_it[3] = false; test_ready = true;
00075 }
00076
00077 protected:
00078 bool sub(int cb_num)
00079 {
00080 ROS_INFO("Subscribing %d", cb_num);
00081 boost::function<void(const test_roscpp::TestArrayConstPtr&)> funcs[4] =
00082 {
00083 boost::bind(&Subscriptions::cb0, this, _1),
00084 boost::bind(&Subscriptions::cb1, this, _1),
00085 boost::bind(&Subscriptions::cb2, this, _1),
00086 boost::bind(&Subscriptions::cb3, this, _1),
00087 };
00088
00089 subs_[cb_num] = nh_.subscribe("test_roscpp/pubsub_test", 10, funcs[cb_num]);
00090
00091 return subs_[cb_num];
00092 }
00093 bool sub_wrappers()
00094 {
00095 ROS_INFO("sub_wrappers");
00096 verify_sub_ = nh_.subscribe("test_roscpp/pubsub_test", 10, &Subscriptions::cb_verify, this);
00097 reset_sub_ = nh_.subscribe("test_roscpp/pubsub_test", 10, &Subscriptions::cb_reset, this);
00098 return verify_sub_ && reset_sub_;
00099 }
00100 bool unsub(int cb_num)
00101 {
00102 ROS_INFO("unsubscribing %d", cb_num);
00103 subs_[cb_num].shutdown();
00104
00105 return true;
00106 }
00107 bool unsub_wrappers()
00108 {
00109 ROS_INFO("unsub wrappers");
00110 verify_sub_.shutdown();
00111 reset_sub_.shutdown();
00112 return true;
00113 }
00114 };
00115
00116 TEST_F(Subscriptions, multipleSubscriptions)
00117 {
00118 test_ready = false;
00119
00120 for (int i = 0; i < 0x10; i++)
00121 {
00122 for (int j = 0; j < 4; j++)
00123 should_have_it[j] = (i & (1 << j) ? true : false);
00124
00125 ROS_INFO(" testing: %d, %d, %d, %d\n",
00126 should_have_it[0],
00127 should_have_it[1],
00128 should_have_it[2],
00129 should_have_it[3]);
00130
00131 for (int j = 0; j < 4; j++)
00132 if (should_have_it[j])
00133 ASSERT_TRUE(sub(j));
00134 ASSERT_TRUE(sub_wrappers());
00135
00136 ros::Time t_start = ros::Time::now();
00137 n_test = 0;
00138 while (n_test < 10 && ros::Time::now() - t_start < ros::Duration(5000.0))
00139 {
00140 static int count = 0;
00141 if (count++ % 10 == 0)
00142 ROS_INFO("%d/100 tests completed...\n", n_test);
00143
00144 ros::spinOnce();
00145 ros::Duration(0.01).sleep();
00146 }
00147
00148 for (int j = 0; j < 4; j++)
00149 if (should_have_it[j])
00150 ASSERT_TRUE(unsub(j));
00151 ASSERT_TRUE(unsub_wrappers());
00152 }
00153 SUCCEED();
00154 }
00155
00156 void callback1(const test_roscpp::TestArrayConstPtr&)
00157 {
00158
00159 }
00160
00161 void callback2(const test_roscpp::TestEmptyConstPtr&)
00162 {
00163
00164 }
00165
00166 TEST(Subscriptions2, multipleDifferentMD5Sums)
00167 {
00168 ros::NodeHandle nh;
00169 ros::Subscriber sub1 = nh.subscribe("test", 0, callback1);
00170
00171 try
00172 {
00173 ros::Subscriber sub2 = nh.subscribe("test", 0, callback2);
00174 FAIL();
00175 }
00176 catch (ros::ConflictingSubscriptionException&)
00177 {
00178 SUCCEED();
00179 }
00180 }
00181
00182 int main(int argc, char** argv)
00183 {
00184 testing::InitGoogleTest(&argc, argv);
00185 ros::init(argc, argv, "multiple_subscriptions");
00186 ros::NodeHandle nh;
00187 g_argc = argc;
00188 g_argv = argv;
00189 return RUN_ALL_TESTS();
00190 }
00191