test_simple.cpp
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00034 
00035 #include <gtest/gtest.h>
00036 
00037 #include "ros/time.h"
00038 #include <ros/init.h>
00039 #include "message_filters/simple_filter.h"
00040 
00041 using namespace message_filters;
00042 
00043 struct Msg
00044 {
00045 };
00046 typedef boost::shared_ptr<Msg> MsgPtr;
00047 typedef boost::shared_ptr<Msg const> MsgConstPtr;
00048 
00049 struct Filter : public SimpleFilter<Msg>
00050 {
00051   typedef ros::MessageEvent<Msg const> EventType;
00052 
00053   void add(const EventType& evt)
00054   {
00055     signalMessage(evt);
00056   }
00057 };
00058 
00059 class Helper
00060 {
00061 public:
00062   Helper()
00063   {
00064     counts_.assign(0);
00065   }
00066 
00067   void cb0(const MsgConstPtr&)
00068   {
00069     ++counts_[0];
00070   }
00071 
00072   void cb1(const Msg&)
00073   {
00074     ++counts_[1];
00075   }
00076 
00077   void cb2(MsgConstPtr)
00078   {
00079     ++counts_[2];
00080   }
00081 
00082   void cb3(const ros::MessageEvent<Msg const>&)
00083   {
00084     ++counts_[3];
00085   }
00086 
00087   void cb4(Msg)
00088   {
00089     ++counts_[4];
00090   }
00091 
00092   void cb5(const MsgPtr&)
00093   {
00094     ++counts_[5];
00095   }
00096 
00097   void cb6(MsgPtr)
00098   {
00099     ++counts_[6];
00100   }
00101 
00102   void cb7(const ros::MessageEvent<Msg>&)
00103   {
00104     ++counts_[7];
00105   }
00106 
00107   boost::array<int32_t, 30> counts_;
00108 };
00109 
00110 TEST(SimpleFilter, callbackTypes)
00111 {
00112   Helper h;
00113   Filter f;
00114   f.registerCallback(boost::bind(&Helper::cb0, &h, _1));
00115   f.registerCallback<const Msg&>(boost::bind(&Helper::cb1, &h, _1));
00116   f.registerCallback<MsgConstPtr>(boost::bind(&Helper::cb2, &h, _1));
00117   f.registerCallback<const ros::MessageEvent<Msg const>&>(boost::bind(&Helper::cb3, &h, _1));
00118   f.registerCallback<Msg>(boost::bind(&Helper::cb4, &h, _1));
00119   f.registerCallback<const MsgPtr&>(boost::bind(&Helper::cb5, &h, _1));
00120   f.registerCallback<MsgPtr>(boost::bind(&Helper::cb6, &h, _1));
00121   f.registerCallback<const ros::MessageEvent<Msg>&>(boost::bind(&Helper::cb7, &h, _1));
00122 
00123   f.add(Filter::EventType(boost::make_shared<Msg>()));
00124   EXPECT_EQ(h.counts_[0], 1);
00125   EXPECT_EQ(h.counts_[1], 1);
00126   EXPECT_EQ(h.counts_[2], 1);
00127   EXPECT_EQ(h.counts_[3], 1);
00128   EXPECT_EQ(h.counts_[4], 1);
00129   EXPECT_EQ(h.counts_[5], 1);
00130   EXPECT_EQ(h.counts_[6], 1);
00131   EXPECT_EQ(h.counts_[7], 1);
00132 }
00133 
00134 struct OldFilter
00135 {
00136   Connection registerCallback(const boost::function<void(const MsgConstPtr&)>&)
00137   {
00138     return Connection();
00139   }
00140 };
00141 
00142 TEST(SimpleFilter, oldRegisterWithNewFilter)
00143 {
00144   OldFilter f;
00145   Helper h;
00146   f.registerCallback(boost::bind(&Helper::cb3, &h, _1));
00147 }
00148 
00149 int main(int argc, char **argv){
00150   testing::InitGoogleTest(&argc, argv);
00151   ros::init(argc, argv, "blah");
00152   ros::Time::init();
00153 
00154   return RUN_ALL_TESTS();
00155 }
00156 
00157 
00158 


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