test_exact_time_policy.cpp
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00034 
00035 #include <gtest/gtest.h>
00036 
00037 #include "ros/ros.h"
00038 #include "message_filters/synchronizer.h"
00039 #include "message_filters/sync_policies/exact_time.h"
00040 
00041 using namespace message_filters;
00042 using namespace message_filters::sync_policies;
00043 
00044 struct Header
00045 {
00046   ros::Time stamp;
00047 };
00048 
00049 
00050 struct Msg
00051 {
00052   Header header;
00053   int data;
00054 };
00055 typedef boost::shared_ptr<Msg> MsgPtr;
00056 typedef boost::shared_ptr<Msg const> MsgConstPtr;
00057 
00058 namespace ros
00059 {
00060 namespace message_traits
00061 {
00062 template<>
00063 struct TimeStamp<Msg>
00064 {
00065   static ros::Time value(const Msg& m)
00066   {
00067     return m.header.stamp;
00068   }
00069 };
00070 }
00071 }
00072 
00073 class Helper
00074 {
00075 public:
00076   Helper()
00077   : count_(0)
00078   , drop_count_(0)
00079   {}
00080 
00081   void cb()
00082   {
00083     ++count_;
00084   }
00085 
00086   void dropcb()
00087   {
00088     ++drop_count_;
00089   }
00090 
00091   int32_t count_;
00092   int32_t drop_count_;
00093 };
00094 
00095 typedef ExactTime<Msg, Msg> Policy2;
00096 typedef ExactTime<Msg, Msg, Msg> Policy3;
00097 typedef Synchronizer<Policy2> Sync2;
00098 typedef Synchronizer<Policy3> Sync3;
00099 
00101 // From here on we assume that testing the 3-message version is sufficient, so as not to duplicate
00102 // tests for everywhere from 2-9
00104 TEST(ExactTime, multipleTimes)
00105 {
00106   Sync3 sync(2);
00107   Helper h;
00108   sync.registerCallback(boost::bind(&Helper::cb, &h));
00109   MsgPtr m(boost::make_shared<Msg>());
00110   m->header.stamp = ros::Time();
00111 
00112   sync.add<0>(m);
00113   ASSERT_EQ(h.count_, 0);
00114 
00115   m = boost::make_shared<Msg>();
00116   m->header.stamp = ros::Time(0.1);
00117   sync.add<1>(m);
00118   ASSERT_EQ(h.count_, 0);
00119   sync.add<0>(m);
00120   ASSERT_EQ(h.count_, 0);
00121   sync.add<2>(m);
00122   ASSERT_EQ(h.count_, 1);
00123 }
00124 
00125 TEST(ExactTime, queueSize)
00126 {
00127   Sync3 sync(1);
00128   Helper h;
00129   sync.registerCallback(boost::bind(&Helper::cb, &h));
00130   MsgPtr m(boost::make_shared<Msg>());
00131   m->header.stamp = ros::Time();
00132 
00133   sync.add<0>(m);
00134   ASSERT_EQ(h.count_, 0);
00135   sync.add<1>(m);
00136   ASSERT_EQ(h.count_, 0);
00137 
00138   m = boost::make_shared<Msg>();
00139   m->header.stamp = ros::Time(0.1);
00140   sync.add<1>(m);
00141   ASSERT_EQ(h.count_, 0);
00142 
00143   m = boost::make_shared<Msg>();
00144   m->header.stamp = ros::Time(0);
00145   sync.add<1>(m);
00146   ASSERT_EQ(h.count_, 0);
00147   sync.add<2>(m);
00148   ASSERT_EQ(h.count_, 0);
00149 }
00150 
00151 TEST(ExactTime, dropCallback)
00152 {
00153   Sync2 sync(1);
00154   Helper h;
00155   sync.registerCallback(boost::bind(&Helper::cb, &h));
00156   sync.getPolicy()->registerDropCallback(boost::bind(&Helper::dropcb, &h));
00157   MsgPtr m(boost::make_shared<Msg>());
00158   m->header.stamp = ros::Time();
00159 
00160   sync.add<0>(m);
00161   ASSERT_EQ(h.drop_count_, 0);
00162   m->header.stamp = ros::Time(0.1);
00163   sync.add<0>(m);
00164 
00165   ASSERT_EQ(h.drop_count_, 1);
00166 }
00167 
00168 struct EventHelper
00169 {
00170   void callback(const ros::MessageEvent<Msg const>& e1, const ros::MessageEvent<Msg const>& e2)
00171   {
00172     e1_ = e1;
00173     e2_ = e2;
00174   }
00175 
00176   ros::MessageEvent<Msg const> e1_;
00177   ros::MessageEvent<Msg const> e2_;
00178 };
00179 
00180 TEST(ExactTime, eventInEventOut)
00181 {
00182   Sync2 sync(2);
00183   EventHelper h;
00184   sync.registerCallback(&EventHelper::callback, &h);
00185   ros::MessageEvent<Msg const> evt(boost::make_shared<Msg>(), ros::Time(4));
00186 
00187   sync.add<0>(evt);
00188   sync.add<1>(evt);
00189 
00190   ASSERT_TRUE(h.e1_.getMessage());
00191   ASSERT_TRUE(h.e2_.getMessage());
00192   ASSERT_EQ(h.e1_.getReceiptTime(), evt.getReceiptTime());
00193   ASSERT_EQ(h.e2_.getReceiptTime(), evt.getReceiptTime());
00194 }
00195 
00196 int main(int argc, char **argv){
00197   testing::InitGoogleTest(&argc, argv);
00198   ros::init(argc, argv, "blah");
00199 
00200   ros::Time::init();
00201   ros::Time::setNow(ros::Time());
00202 
00203   return RUN_ALL_TESTS();
00204 }
00205 
00206 


message_filters
Author(s): Josh Faust, Vijay Pradeep
autogenerated on Tue Mar 7 2017 04:01:23