time_sequencer_unittest.cpp
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00034 
00035 #include <gtest/gtest.h>
00036 
00037 #include "ros/time.h"
00038 #include "message_filters/time_sequencer.h"
00039 
00040 using namespace message_filters;
00041 
00042 struct Header
00043 {
00044   ros::Time stamp;
00045 };
00046 
00047 
00048 struct Msg
00049 {
00050   Header header;
00051   int data;
00052 };
00053 typedef boost::shared_ptr<Msg> MsgPtr;
00054 typedef boost::shared_ptr<Msg const> MsgConstPtr;
00055 
00056 namespace ros
00057 {
00058 namespace message_traits
00059 {
00060 template<>
00061 struct TimeStamp<Msg>
00062 {
00063   static ros::Time value(const Msg& m)
00064   {
00065     return m.header.stamp;
00066   }
00067 };
00068 }
00069 }
00070 
00071 class Helper
00072 {
00073 public:
00074   Helper()
00075   : count_(0)
00076   {}
00077 
00078   void cb(const MsgConstPtr&)
00079   {
00080     ++count_;
00081   }
00082 
00083   int32_t count_;
00084 };
00085 
00086 TEST(TimeSequencer, simple)
00087 {
00088   TimeSequencer<Msg> seq(ros::Duration(1.0), ros::Duration(0.01), 10);
00089   Helper h;
00090   seq.registerCallback(boost::bind(&Helper::cb, &h, _1));
00091   MsgPtr msg(boost::make_shared<Msg>());
00092   msg->header.stamp = ros::Time::now();
00093   seq.add(msg);
00094 
00095   ros::WallDuration(0.1).sleep();
00096   ros::spinOnce();
00097   ASSERT_EQ(h.count_, 0);
00098 
00099   ros::Time::setNow(ros::Time::now() + ros::Duration(2.0));
00100 
00101   ros::WallDuration(0.1).sleep();
00102   ros::spinOnce();
00103 
00104   ASSERT_EQ(h.count_, 1);
00105 }
00106 
00107 TEST(TimeSequencer, compilation)
00108 {
00109   TimeSequencer<Msg> seq(ros::Duration(1.0), ros::Duration(0.01), 10);
00110   TimeSequencer<Msg> seq2(ros::Duration(1.0), ros::Duration(0.01), 10);
00111   seq2.connectInput(seq);
00112 }
00113 
00114 struct EventHelper
00115 {
00116 public:
00117   void cb(const ros::MessageEvent<Msg const>& evt)
00118   {
00119     event_ = evt;
00120   }
00121 
00122   ros::MessageEvent<Msg const> event_;
00123 };
00124 
00125 TEST(TimeSequencer, eventInEventOut)
00126 {
00127   TimeSequencer<Msg> seq(ros::Duration(1.0), ros::Duration(0.01), 10);
00128   TimeSequencer<Msg> seq2(seq, ros::Duration(1.0), ros::Duration(0.01), 10);
00129   EventHelper h;
00130   seq2.registerCallback(&EventHelper::cb, &h);
00131 
00132   ros::MessageEvent<Msg const> evt(boost::make_shared<Msg const>(), ros::Time::now());
00133   seq.add(evt);
00134 
00135   ros::Time::setNow(ros::Time::now() + ros::Duration(2));
00136   while (!h.event_.getMessage())
00137   {
00138     ros::WallDuration(0.01).sleep();
00139     ros::spinOnce();
00140   }
00141 
00142   EXPECT_EQ(h.event_.getReceiptTime(), evt.getReceiptTime());
00143   EXPECT_EQ(h.event_.getMessage(), evt.getMessage());
00144 }
00145 
00146 int main(int argc, char **argv){
00147   testing::InitGoogleTest(&argc, argv);
00148 
00149   ros::init(argc, argv, "time_sequencer_test");
00150   ros::NodeHandle nh;
00151   ros::Time::setNow(ros::Time());
00152 
00153   return RUN_ALL_TESTS();
00154 }
00155 
00156 


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