test_roscpp: publish_n_fast.cpp Source File

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: Brian Gerkey */
00031 
00032 /*
00033  * Publish a message N times, back to back
00034  */
00035 
00036 #include <string>
00037 #include <cstdio>
00038 #include <time.h>
00039 #include <stdlib.h>
00040 
00041 #include "ros/ros.h"
00042 #include <test_roscpp/TestArray.h>
00043 
00044 #define USAGE "USAGE: publish_n_fast <count> <min_size> <max_size>"
00045 
00046 void connectCallback(const ros::SingleSubscriberPublisher &pub, int msg_count, int min_size, int max_size)
00047 {
00048   test_roscpp::TestArray msg;
00049   for(int i = 0; i < msg_count; i++)
00050   {
00051     msg.counter = i;
00052     int j = min_size + (int) ((max_size - min_size) * (rand() / (RAND_MAX + 1.0)));
00053     msg.set_float_arr_size(j);
00054     ROS_INFO("published message %d (%d bytes)\n",
00055            msg.counter, msg.serializationLength());
00056     pub.publish(msg);
00057   }
00058 }
00059 
00060 int
00061 main(int argc, char** argv)
00062 {
00063   ros::init(argc, argv, "publish_n_fast");
00064   ros::NodeHandle n;
00065 
00066   if(argc != 4)
00067   {
00068     puts(USAGE);
00069     exit(-1);
00070   }
00071 
00072   int msg_count = atoi(argv[1]);
00073   int min_size = atoi(argv[2]);
00074   int max_size = atoi(argv[3]);
00075 
00076   ros::Publisher pub_ = n.advertise<test_roscpp::TestArray>("test_roscpp/pubsub_test", msg_count, boost::bind(&connectCallback, _1, msg_count, min_size, max_size));
00077   ros::spin();
00078 
00079   return 0;
00080 }