time_synchronizer_unittest.cpp
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00034 
00035 #include <gtest/gtest.h>
00036 
00037 #include "ros/time.h"
00038 #include "message_filters/time_synchronizer.h"
00039 #include "message_filters/pass_through.h"
00040 #include <ros/init.h>
00041 
00042 using namespace message_filters;
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 TEST(TimeSynchronizer, compile2)
00096 {
00097   NullFilter<Msg> f0, f1;
00098   TimeSynchronizer<Msg, Msg> sync(f0, f1, 1);
00099 }
00100 
00101 TEST(TimeSynchronizer, compile3)
00102 {
00103   NullFilter<Msg> f0, f1, f2;
00104   TimeSynchronizer<Msg, Msg, Msg> sync(f0, f1, f2, 1);
00105 }
00106 
00107 TEST(TimeSynchronizer, compile4)
00108 {
00109   NullFilter<Msg> f0, f1, f2, f3;
00110   TimeSynchronizer<Msg, Msg, Msg, Msg> sync(f0, f1, f2, f3, 1);
00111 }
00112 
00113 TEST(TimeSynchronizer, compile5)
00114 {
00115   NullFilter<Msg> f0, f1, f2, f3, f4;
00116   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg> sync(f0, f1, f2, f3, f4, 1);
00117 }
00118 
00119 TEST(TimeSynchronizer, compile6)
00120 {
00121   NullFilter<Msg> f0, f1, f2, f3, f4, f5;
00122   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg> sync(f0, f1, f2, f3, f4, f5, 1);
00123 }
00124 
00125 TEST(TimeSynchronizer, compile7)
00126 {
00127   NullFilter<Msg> f0, f1, f2, f3, f4, f5, f6;
00128   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(f0, f1, f2, f3, f4, f5, f6, 1);
00129 }
00130 
00131 TEST(TimeSynchronizer, compile8)
00132 {
00133   NullFilter<Msg> f0, f1, f2, f3, f4, f5, f6, f7;
00134   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(f0, f1, f2, f3, f4, f5, f6, f7, 1);
00135 }
00136 
00137 TEST(TimeSynchronizer, compile9)
00138 {
00139   NullFilter<Msg> f0, f1, f2, f3, f4, f5, f6, f7, f8;
00140   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(f0, f1, f2, f3, f4, f5, f6, f7, f8, 1);
00141 }
00142 
00143 void function2(const MsgConstPtr&, const MsgConstPtr&) {}
00144 void function3(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00145 void function4(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00146 void function5(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00147 void function6(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00148 void function7(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00149 void function8(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00150 void function9(const MsgConstPtr&, MsgConstPtr, const MsgPtr&, MsgPtr, const Msg&, Msg, const ros::MessageEvent<Msg const>&, const ros::MessageEvent<Msg>&, const MsgConstPtr&) {}
00151 
00152 TEST(TimeSynchronizer, compileFunction2)
00153 {
00154   TimeSynchronizer<Msg, Msg> sync(1);
00155   sync.registerCallback(function2);
00156 }
00157 
00158 TEST(TimeSynchronizer, compileFunction3)
00159 {
00160   TimeSynchronizer<Msg, Msg, Msg> sync(1);
00161   sync.registerCallback(function3);
00162 }
00163 
00164 TEST(TimeSynchronizer, compileFunction4)
00165 {
00166   TimeSynchronizer<Msg, Msg, Msg, Msg> sync(1);
00167   sync.registerCallback(function4);
00168 }
00169 
00170 TEST(TimeSynchronizer, compileFunction5)
00171 {
00172   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg> sync(1);
00173   sync.registerCallback(function5);
00174 }
00175 
00176 TEST(TimeSynchronizer, compileFunction6)
00177 {
00178   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00179   sync.registerCallback(function6);
00180 }
00181 
00182 TEST(TimeSynchronizer, compileFunction7)
00183 {
00184   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00185   sync.registerCallback(function7);
00186 }
00187 
00188 TEST(TimeSynchronizer, compileFunction8)
00189 {
00190   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00191   sync.registerCallback(function8);
00192 }
00193 
00194 TEST(TimeSynchronizer, compileFunction9)
00195 {
00196   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00197   sync.registerCallback(function9);
00198 }
00199 
00200 struct MethodHelper
00201 {
00202   void method2(const MsgConstPtr&, const MsgConstPtr&) {}
00203   void method3(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00204   void method4(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00205   void method5(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00206   void method6(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00207   void method7(const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&, const MsgConstPtr&) {}
00208   void method8(const MsgConstPtr&, MsgConstPtr, const MsgPtr&, MsgPtr, const Msg&, Msg, const ros::MessageEvent<Msg const>&, const ros::MessageEvent<Msg>&) {}
00209   // Can only do 8 here because the object instance counts as a parameter and bind only supports 9
00210 };
00211 
00212 TEST(TimeSynchronizer, compileMethod2)
00213 {
00214   MethodHelper h;
00215   TimeSynchronizer<Msg, Msg> sync(1);
00216   sync.registerCallback(&MethodHelper::method2, &h);
00217 }
00218 
00219 TEST(TimeSynchronizer, compileMethod3)
00220 {
00221   MethodHelper h;
00222   TimeSynchronizer<Msg, Msg, Msg> sync(1);
00223   sync.registerCallback(&MethodHelper::method3, &h);
00224 }
00225 
00226 TEST(TimeSynchronizer, compileMethod4)
00227 {
00228   MethodHelper h;
00229   TimeSynchronizer<Msg, Msg, Msg, Msg> sync(1);
00230   sync.registerCallback(&MethodHelper::method4, &h);
00231 }
00232 
00233 TEST(TimeSynchronizer, compileMethod5)
00234 {
00235   MethodHelper h;
00236   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg> sync(1);
00237   sync.registerCallback(&MethodHelper::method5, &h);
00238 }
00239 
00240 TEST(TimeSynchronizer, compileMethod6)
00241 {
00242   MethodHelper h;
00243   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00244   sync.registerCallback(&MethodHelper::method6, &h);
00245 }
00246 
00247 TEST(TimeSynchronizer, compileMethod7)
00248 {
00249   MethodHelper h;
00250   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00251   sync.registerCallback(&MethodHelper::method7, &h);
00252 }
00253 
00254 TEST(TimeSynchronizer, compileMethod8)
00255 {
00256   MethodHelper h;
00257   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00258   sync.registerCallback(&MethodHelper::method8, &h);
00259 }
00260 
00261 TEST(TimeSynchronizer, immediate2)
00262 {
00263   TimeSynchronizer<Msg, Msg> sync(1);
00264   Helper h;
00265   sync.registerCallback(boost::bind(&Helper::cb, &h));
00266   MsgPtr m(boost::make_shared<Msg>());
00267   m->header.stamp = ros::Time::now();
00268 
00269   sync.add0(m);
00270   ASSERT_EQ(h.count_, 0);
00271   sync.add1(m);
00272   ASSERT_EQ(h.count_, 1);
00273 }
00274 
00275 TEST(TimeSynchronizer, immediate3)
00276 {
00277   TimeSynchronizer<Msg, Msg, Msg> sync(1);
00278   Helper h;
00279   sync.registerCallback(boost::bind(&Helper::cb, &h));
00280   MsgPtr m(boost::make_shared<Msg>());
00281   m->header.stamp = ros::Time::now();
00282 
00283   sync.add0(m);
00284   ASSERT_EQ(h.count_, 0);
00285   sync.add1(m);
00286   ASSERT_EQ(h.count_, 0);
00287   sync.add2(m);
00288   ASSERT_EQ(h.count_, 1);
00289 }
00290 
00291 TEST(TimeSynchronizer, immediate4)
00292 {
00293   TimeSynchronizer<Msg, Msg, Msg, Msg> sync(1);
00294   Helper h;
00295   sync.registerCallback(boost::bind(&Helper::cb, &h));
00296   MsgPtr m(boost::make_shared<Msg>());
00297   m->header.stamp = ros::Time::now();
00298 
00299   sync.add0(m);
00300   ASSERT_EQ(h.count_, 0);
00301   sync.add1(m);
00302   ASSERT_EQ(h.count_, 0);
00303   sync.add2(m);
00304   ASSERT_EQ(h.count_, 0);
00305   sync.add3(m);
00306   ASSERT_EQ(h.count_, 1);
00307 }
00308 
00309 TEST(TimeSynchronizer, immediate5)
00310 {
00311   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg> sync(1);
00312   Helper h;
00313   sync.registerCallback(boost::bind(&Helper::cb, &h));
00314   MsgPtr m(boost::make_shared<Msg>());
00315   m->header.stamp = ros::Time::now();
00316 
00317   sync.add0(m);
00318   ASSERT_EQ(h.count_, 0);
00319   sync.add1(m);
00320   ASSERT_EQ(h.count_, 0);
00321   sync.add2(m);
00322   ASSERT_EQ(h.count_, 0);
00323   sync.add3(m);
00324   ASSERT_EQ(h.count_, 0);
00325   sync.add4(m);
00326   ASSERT_EQ(h.count_, 1);
00327 }
00328 
00329 TEST(TimeSynchronizer, immediate6)
00330 {
00331   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00332   Helper h;
00333   sync.registerCallback(boost::bind(&Helper::cb, &h));
00334   MsgPtr m(boost::make_shared<Msg>());
00335   m->header.stamp = ros::Time::now();
00336 
00337   sync.add0(m);
00338   ASSERT_EQ(h.count_, 0);
00339   sync.add1(m);
00340   ASSERT_EQ(h.count_, 0);
00341   sync.add2(m);
00342   ASSERT_EQ(h.count_, 0);
00343   sync.add3(m);
00344   ASSERT_EQ(h.count_, 0);
00345   sync.add4(m);
00346   ASSERT_EQ(h.count_, 0);
00347   sync.add5(m);
00348   ASSERT_EQ(h.count_, 1);
00349 }
00350 
00351 TEST(TimeSynchronizer, immediate7)
00352 {
00353   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00354   Helper h;
00355   sync.registerCallback(boost::bind(&Helper::cb, &h));
00356   MsgPtr m(boost::make_shared<Msg>());
00357   m->header.stamp = ros::Time::now();
00358 
00359   sync.add0(m);
00360   ASSERT_EQ(h.count_, 0);
00361   sync.add1(m);
00362   ASSERT_EQ(h.count_, 0);
00363   sync.add2(m);
00364   ASSERT_EQ(h.count_, 0);
00365   sync.add3(m);
00366   ASSERT_EQ(h.count_, 0);
00367   sync.add4(m);
00368   ASSERT_EQ(h.count_, 0);
00369   sync.add5(m);
00370   ASSERT_EQ(h.count_, 0);
00371   sync.add6(m);
00372   ASSERT_EQ(h.count_, 1);
00373 }
00374 
00375 TEST(TimeSynchronizer, immediate8)
00376 {
00377   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00378   Helper h;
00379   sync.registerCallback(boost::bind(&Helper::cb, &h));
00380   MsgPtr m(boost::make_shared<Msg>());
00381   m->header.stamp = ros::Time::now();
00382 
00383   sync.add0(m);
00384   ASSERT_EQ(h.count_, 0);
00385   sync.add1(m);
00386   ASSERT_EQ(h.count_, 0);
00387   sync.add2(m);
00388   ASSERT_EQ(h.count_, 0);
00389   sync.add3(m);
00390   ASSERT_EQ(h.count_, 0);
00391   sync.add4(m);
00392   ASSERT_EQ(h.count_, 0);
00393   sync.add5(m);
00394   ASSERT_EQ(h.count_, 0);
00395   sync.add6(m);
00396   ASSERT_EQ(h.count_, 0);
00397   sync.add7(m);
00398   ASSERT_EQ(h.count_, 1);
00399 }
00400 
00401 TEST(TimeSynchronizer, immediate9)
00402 {
00403   TimeSynchronizer<Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg, Msg> sync(1);
00404   Helper h;
00405   sync.registerCallback(boost::bind(&Helper::cb, &h));
00406   MsgPtr m(boost::make_shared<Msg>());
00407   m->header.stamp = ros::Time::now();
00408 
00409   sync.add0(m);
00410   ASSERT_EQ(h.count_, 0);
00411   sync.add1(m);
00412   ASSERT_EQ(h.count_, 0);
00413   sync.add2(m);
00414   ASSERT_EQ(h.count_, 0);
00415   sync.add3(m);
00416   ASSERT_EQ(h.count_, 0);
00417   sync.add4(m);
00418   ASSERT_EQ(h.count_, 0);
00419   sync.add5(m);
00420   ASSERT_EQ(h.count_, 0);
00421   sync.add6(m);
00422   ASSERT_EQ(h.count_, 0);
00423   sync.add7(m);
00424   ASSERT_EQ(h.count_, 0);
00425   sync.add8(m);
00426   ASSERT_EQ(h.count_, 1);
00427 }
00428 
00430 // From here on we assume that testing the 3-message version is sufficient, so as not to duplicate
00431 // tests for everywhere from 2-9
00433 TEST(TimeSynchronizer, multipleTimes)
00434 {
00435   TimeSynchronizer<Msg, Msg, Msg> sync(2);
00436   Helper h;
00437   sync.registerCallback(boost::bind(&Helper::cb, &h));
00438   MsgPtr m(boost::make_shared<Msg>());
00439   m->header.stamp = ros::Time();
00440 
00441   sync.add0(m);
00442   ASSERT_EQ(h.count_, 0);
00443 
00444   m = boost::make_shared<Msg>();
00445   m->header.stamp = ros::Time(0.1);
00446   sync.add1(m);
00447   ASSERT_EQ(h.count_, 0);
00448   sync.add0(m);
00449   ASSERT_EQ(h.count_, 0);
00450   sync.add2(m);
00451   ASSERT_EQ(h.count_, 1);
00452 }
00453 
00454 TEST(TimeSynchronizer, queueSize)
00455 {
00456   TimeSynchronizer<Msg, Msg, Msg> sync(1);
00457   Helper h;
00458   sync.registerCallback(boost::bind(&Helper::cb, &h));
00459   MsgPtr m(boost::make_shared<Msg>());
00460   m->header.stamp = ros::Time();
00461 
00462   sync.add0(m);
00463   ASSERT_EQ(h.count_, 0);
00464   sync.add1(m);
00465   ASSERT_EQ(h.count_, 0);
00466 
00467   m = boost::make_shared<Msg>();
00468   m->header.stamp = ros::Time(0.1);
00469   sync.add1(m);
00470   ASSERT_EQ(h.count_, 0);
00471 
00472   m = boost::make_shared<Msg>();
00473   m->header.stamp = ros::Time(0);
00474   sync.add1(m);
00475   ASSERT_EQ(h.count_, 0);
00476   sync.add2(m);
00477   ASSERT_EQ(h.count_, 0);
00478 }
00479 
00480 TEST(TimeSynchronizer, dropCallback)
00481 {
00482   TimeSynchronizer<Msg, Msg> sync(1);
00483   Helper h;
00484   sync.registerCallback(boost::bind(&Helper::cb, &h));
00485   sync.registerDropCallback(boost::bind(&Helper::dropcb, &h));
00486   MsgPtr m(boost::make_shared<Msg>());
00487   m->header.stamp = ros::Time();
00488 
00489   sync.add0(m);
00490   ASSERT_EQ(h.drop_count_, 0);
00491   m->header.stamp = ros::Time(0.1);
00492   sync.add0(m);
00493 
00494   ASSERT_EQ(h.drop_count_, 1);
00495 }
00496 
00497 struct EventHelper
00498 {
00499   void callback(const ros::MessageEvent<Msg const>& e1, const ros::MessageEvent<Msg const>& e2)
00500   {
00501     e1_ = e1;
00502     e2_ = e2;
00503   }
00504 
00505   ros::MessageEvent<Msg const> e1_;
00506   ros::MessageEvent<Msg const> e2_;
00507 };
00508 
00509 TEST(TimeSynchronizer, eventInEventOut)
00510 {
00511   TimeSynchronizer<Msg, Msg> sync(2);
00512   EventHelper h;
00513   sync.registerCallback(&EventHelper::callback, &h);
00514   ros::MessageEvent<Msg const> evt(boost::make_shared<Msg>(), ros::Time(4));
00515 
00516   sync.add<0>(evt);
00517   sync.add<1>(evt);
00518 
00519   ASSERT_TRUE(h.e1_.getMessage());
00520   ASSERT_TRUE(h.e2_.getMessage());
00521   ASSERT_EQ(h.e1_.getReceiptTime(), evt.getReceiptTime());
00522   ASSERT_EQ(h.e2_.getReceiptTime(), evt.getReceiptTime());
00523 }
00524 
00525 TEST(TimeSynchronizer, connectConstructor)
00526 {
00527   PassThrough<Msg> pt1, pt2;
00528   TimeSynchronizer<Msg, Msg> sync(pt1, pt2, 1);
00529   Helper h;
00530   sync.registerCallback(boost::bind(&Helper::cb, &h));
00531   MsgPtr m(boost::make_shared<Msg>());
00532   m->header.stamp = ros::Time::now();
00533 
00534   pt1.add(m);
00535   ASSERT_EQ(h.count_, 0);
00536   pt2.add(m);
00537   ASSERT_EQ(h.count_, 1);
00538 }
00539 
00540 //TEST(TimeSynchronizer, connectToSimple)
00541 
00542 int main(int argc, char **argv){
00543   testing::InitGoogleTest(&argc, argv);
00544   ros::init(argc, argv, "blah");
00545 
00546   ros::Time::init();
00547   ros::Time::setNow(ros::Time());
00548 
00549   return RUN_ALL_TESTS();
00550 }
00551 
00552 
00553 


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