loads_of_publishers.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* Author: Josh Faust */
 
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>
 
#include "test_roscpp/TestArray.h"
 
uint32_t g_pub_count = 0;
 
void callback(const test_roscpp::TestArrayConstPtr&)
{
}
 
TEST(LoadsOfPublishers, waitForAll)
{
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("roscpp/pubsub_test", 1000, callback);
 
  while (sub.getNumPublishers() < g_pub_count)
  {
    ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
  }
 
  ros::WallDuration(10).sleep();
  ros::spinOnce();
  ASSERT_EQ(sub.getNumPublishers(), g_pub_count);
}
 
struct Helper
{
  void callback(const ros::MessageEvent<test_roscpp::TestArray>& msg_event)
  {
    alive[msg_event.getPublisherName()] = true;
  }
 
  std::map<std::string, bool> alive;
};
 
TEST(LoadsOfPublishers, receiveFromAll)
{
  ros::NodeHandle nh;
  Helper helper;
  ros::Subscriber sub = nh.subscribe("roscpp/pubsub_test", 1000, &Helper::callback, &helper);
 
  while (helper.alive.size() < g_pub_count)
  {
    ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "loads_of_publishers");
 
  if (argc < 2)
  {
    ROS_ERROR("Not enough arguments (usage: loads_of_publishers num_publishers)");
    return 1;
  }
 
  g_pub_count = atoi(argv[1]);
 
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}