test_publisher.cpp

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#include <gtest/gtest.h>
 
#include "rosrt/rosrt.h"
 
#include <ros/ros.h>
 
#include <std_msgs/UInt32.h>
 
#include <boost/thread.hpp>
 
using namespace rosrt;
 
struct Helper
{
  Helper()
  : count(0)
  {}
 
  void cb(const std_msgs::UInt32ConstPtr& msg)
  {
    latest = msg;
    ++count;
  }
 
  std_msgs::UInt32ConstPtr latest;
  uint32_t count;
};
 
TEST(Publisher, singlePublisher)
{
  ros::NodeHandle nh;
 
  Publisher<std_msgs::UInt32> pub(nh.advertise<std_msgs::UInt32>("test", 0), 1, std_msgs::UInt32());
 
  Helper h;
  ros::Subscriber sub = nh.subscribe("test", 0, &Helper::cb, &h);
 
  resetThreadAllocInfo();
 
  std_msgs::UInt32Ptr msg = pub.allocate();
  msg->data = 5;
  pub.publish(msg);
 
  ASSERT_EQ(getThreadAllocInfo().total_ops, 0ULL);
 
  while (h.count == 0)
  {
    ros::WallDuration(0.001).sleep();
    ros::spinOnce();
  }
 
  ASSERT_EQ(h.count, 1UL);
  ASSERT_EQ(h.latest->data, 5UL);
}
 
TEST(Publisher, simpleInitializeCompile)
{
  ros::NodeHandle nh;
  Publisher<std_msgs::UInt32> pub(nh, "test", 0, 1, std_msgs::UInt32());
}
 
TEST(Publisher, multiplePublishers)
{
  ros::NodeHandle nh;
 
  static const uint32_t count = 100;
  Publisher<std_msgs::UInt32> pubs[count];
 
  Helper helpers[count];
  ros::Subscriber subs[count];
 
  for (uint32_t i = 0; i < count; ++i)
  {
    std::stringstream topic;
    topic << "test" << i;
    pubs[i].initialize(nh.advertise<std_msgs::UInt32>(topic.str(), 0), 100, std_msgs::UInt32());
    subs[i] = nh.subscribe(topic.str(), 0, &Helper::cb, &helpers[i]);
  }
 
  for (uint32_t j = 0; j < 100; ++j)
  {
    for (uint32_t i = 0; i < count; ++i)
    {
      std_msgs::UInt32Ptr msg = pubs[i].allocate();
      ASSERT_TRUE(msg);
      msg->data = j;
      ASSERT_TRUE(pubs[i].publish(msg));
    }
  }
 
  uint32_t recv_count = 0;
  while (recv_count < count * 100)
  {
    ros::spinOnce();
    ros::WallDuration(0.01).sleep();
 
    recv_count = 0;
 
    for (uint32_t i = 0; i < count; ++i)
    {
      recv_count += helpers[i].count;
    }
  }
 
  ASSERT_EQ(recv_count, count * 100);
 
  for (uint32_t i = 0; i < count; ++i)
  {
    ASSERT_EQ(helpers[i].latest->data, 99UL);
  }
}
 
void publishThread(Publisher<std_msgs::UInt32>& pub, bool& done)
{
  while (!done)
  {
    std_msgs::UInt32Ptr msg = pub.allocate();
    if (msg)
    {
      pub.publish(msg);
    }
    else
    {
      ros::WallDuration(0.0001).sleep();
    }
  }
}
 
TEST(Publisher, multipleThreads)
{
  ros::NodeHandle nh;
 
  static const uint32_t count = 10;
  Publisher<std_msgs::UInt32> pubs[count];
 
  Helper helpers[count];
  ros::Subscriber subs[count];
 
  boost::thread_group tg;
  bool done = false;
  for (uint32_t i = 0; i < count; ++i)
  {
    std::stringstream topic;
    topic << "test" << i;
    pubs[i].initialize(nh.advertise<std_msgs::UInt32>(topic.str(), 0), 100, std_msgs::UInt32());
    subs[i] = nh.subscribe(topic.str(), 0, &Helper::cb, &helpers[i]);
 
    tg.create_thread(boost::bind(publishThread, boost::ref(pubs[i]), boost::ref(done)));
  }
 
  uint32_t recv_count = 0;
  while (recv_count < count * 10000)
  {
    ros::spinOnce();
 
    recv_count = 0;
 
    for (uint32_t i = 0; i < count; ++i)
    {
      recv_count += helpers[i].count;
    }
 
    ros::WallDuration(0.01).sleep();
  }
 
  done = true;
  tg.join_all();
 
  ASSERT_GE(recv_count, count * 10000);
 
  for (uint32_t i = 0; i < count; ++i)
  {
    ASSERT_TRUE(helpers[i].latest);
  }
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "test_rt_publisher");
  testing::InitGoogleTest(&argc, argv);
 
  ros::NodeHandle nh;
  rosrt::init();
 
  return RUN_ALL_TESTS();
}