test_bond: test_bond: exercise_bond.cpp Source File

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  *
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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 the 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
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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 
00031 #include <bondcpp/bond.h>
00032 #include <gtest/gtest.h>
00033 #include <uuid/uuid.h>
00034 #include <ros/spinner.h>
00035 
00036 #include <test_bond/TestBond.h>
00037 
00038 const std::string TOPIC = "test_bond_topic";
00039 
00040 std::string genId()
00041 {
00042   uuid_t uuid;
00043   uuid_generate_random(uuid);
00044   char uuid_str[40];
00045   uuid_unparse(uuid, uuid_str);
00046   return std::string(uuid_str);
00047 }
00048 
00049 ros::ServiceClient getService()
00050 {
00051   ros::NodeHandle nh;
00052   ros::ServiceClient cli = nh.serviceClient<test_bond::TestBond>("test_bond");
00053   EXPECT_TRUE(cli);
00054   EXPECT_TRUE(cli.waitForExistence(ros::Duration(5.0)));
00055   return cli;
00056 }
00057 
00058 TEST(ExerciseBondCpp, normal)
00059 {
00060   std::string id = genId();
00061   bond::Bond bond(TOPIC, id);
00062   ros::ServiceClient cli = getService();
00063   EXPECT_TRUE(cli.isValid());
00064   EXPECT_TRUE(cli.exists());
00065   test_bond::TestBond::Request req;
00066   test_bond::TestBond::Response resp;
00067   req.topic = TOPIC;
00068   req.id = id;
00069   req.delay_death = ros::Duration(2.0);
00070   ASSERT_TRUE(cli.call(req, resp));
00071   bond.start();
00072 
00073   EXPECT_TRUE(bond.waitUntilFormed(ros::Duration(2.0)));
00074   EXPECT_TRUE(bond.waitUntilBroken(ros::Duration(5.0)));
00075 }
00076 
00077 TEST(ExerciseBondCpp, remoteNeverConnects)
00078 {
00079   std::string id = genId();
00080   // Never starts the other side of the bond
00081   bond::Bond bond(TOPIC, id);
00082   bond.start();
00083   EXPECT_FALSE(bond.waitUntilFormed(ros::Duration(1.0)));
00084   EXPECT_TRUE(bond.waitUntilBroken(ros::Duration(20.0)));
00085 }
00086 
00087 TEST(ExerciseBondCpp, heartbeatTimeout)
00088 {
00089   std::string id = genId();
00090   bond::Bond bond(TOPIC, id);
00091 
00092   ros::ServiceClient cli = getService();
00093   test_bond::TestBond::Request req;
00094   test_bond::TestBond::Response resp;
00095   req.topic = TOPIC;
00096   req.id = id;
00097   req.delay_death = ros::Duration(2.0);
00098   req.inhibit_death_message = true;
00099   ASSERT_TRUE(cli.call(req, resp));
00100 
00101   bond.start();
00102 
00103   EXPECT_TRUE(bond.waitUntilFormed(ros::Duration(2.0)));
00104   EXPECT_TRUE(bond.waitUntilBroken(ros::Duration(10.0)));
00105 }
00106 
00107 TEST(ExerciseBondCpp, cleanLocalDeath)
00108 {
00109   std::string id = genId();
00110   bond::Bond bond(TOPIC, id);
00111 
00112   ros::ServiceClient cli = getService();
00113   test_bond::TestBond::Request req;
00114   test_bond::TestBond::Response resp;
00115   req.topic = TOPIC;
00116   req.id = id;
00117   req.delay_death = ros::Duration(-1);
00118   ASSERT_TRUE(cli.call(req, resp));
00119 
00120   bond.start();
00121 
00122   EXPECT_TRUE(bond.waitUntilFormed(ros::Duration(2.0)));
00123   bond.breakBond();
00124   EXPECT_TRUE(bond.waitUntilBroken(ros::Duration(2.0)));
00125 }
00126 
00127 TEST(ExerciseBondCpp, localDeathNoAck)
00128 {
00129   std::string id = genId();
00130   bond::Bond bond(TOPIC, id);
00131 
00132   ros::ServiceClient cli = getService();
00133   test_bond::TestBond::Request req;
00134   test_bond::TestBond::Response resp;
00135   req.topic = TOPIC;
00136   req.id = id;
00137   req.delay_death = ros::Duration(-1);
00138   req.inhibit_death_message = true;
00139   ASSERT_TRUE(cli.call(req, resp));
00140 
00141   bond.start();
00142 
00143   EXPECT_TRUE(bond.waitUntilFormed(ros::Duration(2.0)));
00144   bond.breakBond();
00145   EXPECT_TRUE(bond.waitUntilBroken(ros::Duration(5.0)));
00146 }
00147 
00148 TEST(ExerciseBondCpp, remoteIgnoresLocalDeath)
00149 {
00150   std::string id = genId();
00151   bond::Bond bond(TOPIC, id);
00152 
00153   ros::ServiceClient cli = getService();
00154   test_bond::TestBond::Request req;
00155   test_bond::TestBond::Response resp;
00156   req.topic = TOPIC;
00157   req.id = id;
00158   req.delay_death = ros::Duration(-1);
00159   req.inhibit_death = true;
00160   ASSERT_TRUE(cli.call(req, resp));
00161 
00162   bond.start();
00163 
00164   EXPECT_TRUE(bond.waitUntilFormed(ros::Duration(2.0)));
00165   bond.breakBond();
00166   EXPECT_FALSE(bond.waitUntilBroken(ros::Duration(1.0)));
00167   EXPECT_TRUE(bond.waitUntilBroken(ros::Duration(10.0)));
00168 }
00169 
00170 int main(int argc, char ** argv)
00171 {
00172   testing::InitGoogleTest(&argc, argv);
00173   ros::init(argc, argv, "exercise_bondcpp", true);
00174   ros::AsyncSpinner spinner(1);
00175   spinner.start();
00176   ros::NodeHandle nh;
00177   int ret = RUN_ALL_TESTS();
00178   spinner.stop();
00179   return ret;
00180 };