multiple_init_fini.cpp
Go to the documentation of this 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: Josh Faust */
00031 
00032 /*
00033  * Repeatedly create and destroy a node.  Do some stuff in between to be sure things are working
00034  */
00035 
00036 #include <string>
00037 
00038 #include <gtest/gtest.h>
00039 
00040 #include <time.h>
00041 #include <stdlib.h>
00042 
00043 #include "ros/ros.h"
00044 #include <test_roscpp/TestArray.h>
00045 
00046 int g_argc;
00047 char** g_argv;
00048 
00049 void callback(const test_roscpp::TestArrayConstPtr& msg)
00050 {
00051 }
00052 
00053 TEST(roscpp, multipleInitAndFini)
00054 {
00055   int try_count = 10;
00056   if ( g_argc > 1 )
00057   {
00058     try_count = atoi(g_argv[1]);
00059   }
00060 
00061   for ( int i = 0; i < try_count; ++i )
00062   {
00063     ros::init( g_argc, g_argv, "multiple_init_fini" );
00064     ros::NodeHandle nh;
00065 
00066     ros::Subscriber sub = nh.subscribe("test", 1, callback);
00067     ASSERT_TRUE(sub);
00068 
00069     ros::Publisher pub = nh.advertise<test_roscpp::TestArray>( "test2", 1 );
00070     ASSERT_TRUE(pub);
00071 
00072     ros::shutdown();
00073   }
00074 }
00075 
00076 int
00077 main(int argc, char** argv)
00078 {
00079   testing::InitGoogleTest(&argc, argv);
00080   g_argc = argc;
00081   g_argv = argv;
00082   return RUN_ALL_TESTS();
00083 }


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