incrementing_sequence.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 <string>
00033 #include <sstream>
00034 #include <fstream>
00035 
00036 #include <gtest/gtest.h>
00037 
00038 #include <time.h>
00039 #include <stdlib.h>
00040 
00041 #include "ros/ros.h"
00042 #include <test_roscpp/TestWithHeader.h>
00043 
00044 using namespace ros;
00045 using namespace test_roscpp;
00046 
00047 uint32_t g_recv_count = 0;
00048 uint32_t g_sequence = 0;
00049 
00050 void callback(const TestWithHeaderConstPtr& msg)
00051 {
00052   ++g_recv_count;
00053   g_sequence = msg->header.seq;
00054 }
00055 
00056 TEST(IncrementingSequence, incrementing)
00057 {
00058   ros::NodeHandle nh;
00059   ros::Publisher pub = nh.advertise<TestWithHeader>("test_with_header", 0);
00060   ros::Subscriber sub = nh.subscribe("test_with_header", 0, callback);
00061 
00062   while (g_recv_count < 50)
00063   {
00064     TestWithHeader msg;
00065     msg.header.frame_id = "blah";
00066     msg.header.stamp = ros::Time::now();
00067     pub.publish(msg);
00068 
00069     ros::spinOnce();
00070     ros::WallDuration(0.01).sleep();
00071   }
00072 
00073   ASSERT_GT(g_sequence, 0UL);
00074 }
00075 
00076 int main(int argc, char** argv)
00077 {
00078   testing::InitGoogleTest(&argc, argv);
00079   ros::init(argc, argv, "incrementing_sequence");
00080 
00081   ros::NodeHandle nh;
00082 
00083   return RUN_ALL_TESTS();
00084 }
00085 
00086 


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Fri Aug 28 2015 12:33:59