test_callbacks_cpp.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 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
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 
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 std::string genId()
00040 {
00041   uuid_t uuid;
00042   uuid_generate_random(uuid);
00043   char uuid_str[40];
00044   uuid_unparse(uuid, uuid_str);
00045   return std::string(uuid_str);
00046 }
00047 
00048 TEST(TestCallbacksCpp, dieInLifeCallback)
00049 {
00050   std::string id = genId();
00051   bond::Bond a(TOPIC, id);
00052   bond::Bond b(TOPIC, id);
00053 
00054   a.setFormedCallback(boost::bind(&bond::Bond::breakBond, &a));
00055 
00056   a.start();
00057   b.start();
00058 
00059   EXPECT_TRUE(a.waitUntilFormed(ros::Duration(5.0)));
00060   EXPECT_TRUE(b.waitUntilBroken(ros::Duration(3.0)));
00061 }
00062 
00063 int main(int argc, char ** argv)
00064 {
00065   testing::InitGoogleTest(&argc, argv);
00066   ros::init(argc, argv, "test_callbacks_cpp", true);
00067   ros::AsyncSpinner spinner(1);
00068   spinner.start();
00069   ros::NodeHandle nh;
00070   int ret = RUN_ALL_TESTS();
00071   spinner.stop();
00072   return ret;
00073 };
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test_bond
Author(s): Stuart Glaser
autogenerated on Thu Aug 15 2013 10:10:43