loads_of_publishers.cpp
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00001 /*
00002  * Copyright (c) 2009, 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 <gtest/gtest.h>
00033 #include <ros/ros.h>
00034 #include <ros/callback_queue.h>
00035 
00036 #include "test_roscpp/TestArray.h"
00037 
00038 uint32_t g_pub_count = 0;
00039 
00040 void callback(const test_roscpp::TestArrayConstPtr&)
00041 {
00042 }
00043 
00044 TEST(LoadsOfPublishers, waitForAll)
00045 {
00046   ros::NodeHandle nh;
00047   ros::Subscriber sub = nh.subscribe("roscpp/pubsub_test", 1000, callback);
00048 
00049   while (sub.getNumPublishers() < g_pub_count)
00050   {
00051     ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
00052   }
00053 
00054   ros::WallDuration(10).sleep();
00055   ros::spinOnce();
00056   ASSERT_EQ(sub.getNumPublishers(), g_pub_count);
00057 }
00058 
00059 struct Helper
00060 {
00061   void callback(const ros::MessageEvent<test_roscpp::TestArray>& msg_event)
00062   {
00063     alive[msg_event.getPublisherName()] = true;
00064   }
00065 
00066   std::map<std::string, bool> alive;
00067 };
00068 
00069 TEST(LoadsOfPublishers, receiveFromAll)
00070 {
00071   ros::NodeHandle nh;
00072   Helper helper;
00073   ros::Subscriber sub = nh.subscribe("roscpp/pubsub_test", 1000, &Helper::callback, &helper);
00074 
00075   while (helper.alive.size() < g_pub_count)
00076   {
00077     ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
00078   }
00079 }
00080 
00081 int main(int argc, char** argv)
00082 {
00083   testing::InitGoogleTest(&argc, argv);
00084   ros::init(argc, argv, "loads_of_publishers");
00085 
00086   if (argc < 2)
00087   {
00088     ROS_ERROR("Not enough arguments (usage: loads_of_publishers num_publishers)");
00089     return 1;
00090   }
00091 
00092   g_pub_count = atoi(argv[1]);
00093 
00094   ros::NodeHandle nh;
00095 
00096   return RUN_ALL_TESTS();
00097 }


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