latching_publisher.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Josh Faust */
00031 
00032 #include <string>
00033 #include <sstream>
00034 #include <fstream>
00035 
00036 #include <gtest/gtest.h>
00037 
00038 #include <time.h>
00039 #include <stdlib.h>
00040 
00041 #include "ros/ros.h"
00042 #include <test_roscpp/TestArray.h>
00043 
00044 using namespace ros;
00045 using namespace test_roscpp;
00046 
00047 std::string g_node_name = "test_latching_publisher";
00048 
00049 class Helper
00050 {
00051 public:
00052   Helper()
00053   : count_(0)
00054   {}
00055 
00056   void cb(const ros::MessageEvent<TestArray>& msg_event)
00057   {
00058     ++count_;
00059     last_msg_event_ = msg_event;
00060   }
00061 
00062   int32_t count_;
00063   ros::MessageEvent<TestArray> last_msg_event_;
00064 };
00065 
00066 TEST(RoscppLatchingPublisher, nonLatching)
00067 {
00068   ros::NodeHandle n;
00069   ros::Publisher pub = n.advertise<TestArray>("test", 1, false);
00070   TestArray arr;
00071   pub.publish(arr);
00072 
00073   Helper h;
00074   ros::Subscriber sub = n.subscribe("test", 1, &Helper::cb, &h);
00075   ros::Duration(0.1).sleep();
00076   ros::spinOnce();
00077 
00078   ASSERT_EQ(h.count_, 0);
00079 }
00080 
00081 TEST(RoscppLatchingPublisher, latching)
00082 {
00083   ros::NodeHandle n;
00084   ros::Publisher pub = n.advertise<TestArray>("test", 1, true);
00085   TestArray arr;
00086   pub.publish(arr);
00087 
00088   Helper h;
00089   ros::Subscriber sub = n.subscribe("test", 1, &Helper::cb, &h);
00090   ros::Duration(0.1).sleep();
00091   ros::spinOnce();
00092 
00093   ASSERT_EQ(h.count_, 1);
00094 
00095   ASSERT_STREQ(h.last_msg_event_.getConnectionHeader()["latching"].c_str(), "1");
00096 }
00097 
00098 TEST(RoscppLatchingPublisher, latchingMultipleSubscriptions)
00099 {
00100   ros::NodeHandle n;
00101   ros::Publisher pub = n.advertise<TestArray>("test", 1, true);
00102   TestArray arr;
00103   pub.publish(arr);
00104 
00105   Helper h1, h2;
00106   ros::Subscriber sub1 = n.subscribe("test", 1, &Helper::cb, &h1);
00107   ros::Duration(0.1).sleep();
00108   ros::spinOnce();
00109 
00110   ASSERT_EQ(h1.count_, 1);
00111   ASSERT_EQ(h2.count_, 0);
00112 
00113   ros::Subscriber sub2 = n.subscribe("test", 1, &Helper::cb, &h2);
00114   ros::spinOnce();
00115 
00116   ASSERT_EQ(h1.count_, 1);
00117   ASSERT_EQ(h2.count_, 1);
00118 }
00119 
00120 int main(int argc, char** argv)
00121 {
00122   testing::InitGoogleTest(&argc, argv);
00123   ros::init(argc, argv, g_node_name);
00124 
00125   ros::NodeHandle nh;
00126 
00127   return RUN_ALL_TESTS();
00128 }
00129 


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Thu Jun 6 2019 21:10:42