publish_unadvertise.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: Brian Gerkey */
00031 
00032 #include <string>
00033 
00034 #include <gtest/gtest.h>
00035 
00036 #include <time.h>
00037 #include <stdlib.h>
00038 
00039 #include "ros/ros.h"
00040 #include <test_roscpp/TestArray.h>
00041 
00042 static int g_argc;
00043 static char** g_argv;
00044 
00045 bool failure;
00046 bool advertised;
00047 
00048 class Publications : public testing::Test
00049 {
00050 public:
00051   ros::NodeHandle nh_;
00052   ros::Publisher pub_;
00053 
00054   void subscriberCallback(const ros::SingleSubscriberPublisher&)
00055   {
00056     ROS_INFO("subscriberCallback invoked");
00057     if(!advertised)
00058     {
00059       ROS_INFO("but not advertised");
00060       failure = true;
00061     }
00062   }
00063 
00064   bool adv()
00065   {
00066     pub_ = nh_.advertise<test_roscpp::TestArray>("test_roscpp/pubsub_test", 1, boost::bind(&Publications::subscriberCallback, this, _1));
00067     return pub_;
00068   }
00069 
00070   void unadv()
00071   {
00072     pub_.shutdown();
00073   }
00074 
00075 protected:
00076   Publications() {}
00077   void SetUp()
00078   {
00079     advertised = false;
00080     failure = false;
00081 
00082     ASSERT_TRUE(g_argc == 1);
00083   }
00084   void TearDown()
00085   {
00086   }
00087 };
00088 
00089 TEST_F(Publications, pubUnadvertise)
00090 {
00091   advertised = true;
00092   ROS_INFO("advertising");
00093   ASSERT_TRUE(adv());
00094   ros::Time t1(ros::Time::now()+ros::Duration(2.0));
00095 
00096   while(ros::Time::now() < t1 && !failure)
00097   {
00098     ros::WallDuration(0.01).sleep();
00099     ros::spinOnce();
00100   }
00101 
00102   unadv();
00103 
00104   ROS_INFO("unadvertised");
00105   advertised = false;
00106 
00107   ros::Time t2(ros::Time::now()+ros::Duration(2.0));
00108   while(ros::Time::now() < t2 && !failure)
00109   {
00110     ros::WallDuration(0.01).sleep();
00111     ros::spinOnce();
00112   }
00113 
00114   advertised = true;
00115   ASSERT_TRUE(adv());
00116   unadv();
00117   ASSERT_TRUE(adv());
00118 
00119   if(failure)
00120     FAIL();
00121   else
00122     SUCCEED();
00123 }
00124 
00125 int
00126 main(int argc, char** argv)
00127 {
00128   ros::init(argc, argv, "publish_unadvertise");
00129   testing::InitGoogleTest(&argc, argv);
00130   g_argc = argc;
00131   g_argv = argv;
00132   return RUN_ALL_TESTS();
00133 }


test_roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Ken Conley kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:21