nonconst_subscriptions.cpp

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/* Author: Josh Faust */
 
/*
 * Subscribe intraprocess, ensuring that no copy happens
 */
 
#include <string>
 
#include <gtest/gtest.h>
 
#include <stdlib.h>
 
#include "ros/ros.h"
 
#include "test_roscpp/TestEmpty.h"
 
 
struct ConstHelper
{
  void callback(const test_roscpp::TestEmptyConstPtr& msg)
  {
    message_ = msg;
  }
 
  test_roscpp::TestEmptyConstPtr message_;
};
 
struct NonConstHelper
{
  void callback(const test_roscpp::TestEmptyPtr& msg)
  {
    message_ = msg;
  }
 
  test_roscpp::TestEmptyPtr message_;
};
 
TEST(NonConstSubscriptions, oneNonConstSubscriber)
{
  NonConstHelper h;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test", 0, &NonConstHelper::callback, &h);
  ros::Publisher pub = nh.advertise<test_roscpp::TestEmpty>("test", 0);
 
  test_roscpp::TestEmptyPtr msg(boost::make_shared<test_roscpp::TestEmpty>());
  pub.publish(msg);
  ros::spinOnce();
 
  ASSERT_TRUE(h.message_);
  EXPECT_EQ(h.message_, msg);
}
 
TEST(NonConstSubscriptions, oneConstOneNonConst)
{
  NonConstHelper h;
  ConstHelper h2;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test", 0, &NonConstHelper::callback, &h);
  ros::Subscriber sub2 = nh.subscribe("test", 0, &ConstHelper::callback, &h2);
  ros::Publisher pub = nh.advertise<test_roscpp::TestEmpty>("test", 0);
 
  test_roscpp::TestEmptyPtr msg(boost::make_shared<test_roscpp::TestEmpty>());
  pub.publish(msg);
  ros::spinOnce();
 
  ASSERT_TRUE(h.message_);
  EXPECT_NE(h.message_, msg);
  EXPECT_EQ(h2.message_, msg);
}
 
TEST(NonConstSubscriptions, twoNonConst)
{
  NonConstHelper h;
  NonConstHelper h2;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test", 0, &NonConstHelper::callback, &h);
  ros::Subscriber sub2 = nh.subscribe("test", 0, &NonConstHelper::callback, &h2);
  ros::Publisher pub = nh.advertise<test_roscpp::TestEmpty>("test", 0);
 
  test_roscpp::TestEmptyPtr msg(boost::make_shared<test_roscpp::TestEmpty>());
  pub.publish(msg);
  ros::spinOnce();
 
  ASSERT_TRUE(h.message_);
  EXPECT_NE(h.message_, msg);
}
 
TEST(NonConstSubscriptions, twoConst)
{
  ConstHelper h;
  ConstHelper h2;
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("test", 0, &ConstHelper::callback, &h);
  ros::Subscriber sub2 = nh.subscribe("test", 0, &ConstHelper::callback, &h2);
  ros::Publisher pub = nh.advertise<test_roscpp::TestEmpty>("test", 0);
 
  test_roscpp::TestEmptyPtr msg(boost::make_shared<test_roscpp::TestEmpty>());
  pub.publish(msg);
  ros::spinOnce();
 
  ASSERT_TRUE(h.message_);
  EXPECT_EQ(h.message_, msg);
  EXPECT_EQ(h2.message_, msg);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "intraprocess_subscriptions");
 
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}