pre_deserialize.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
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 *
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 *       this software without specific prior written permission.
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 */
 
/* Author: Josh Faust */
 
/*
 * Test PreDeserialize trait
 */
 
#include <gtest/gtest.h>
 
#include <ros/ros.h>
 
// To avoid the intraprocess optimization we use two messages
 
struct OutgoingMsg
{
};
 
struct IncomingMsg
{
  IncomingMsg()
  : touched(false)
  {}
 
  bool touched;
};
 
ROS_IMPLEMENT_SIMPLE_TOPIC_TRAITS(IncomingMsg, "my_md5sum", "test_roscpp_serialization/IncomingMsg", "\n");
ROS_IMPLEMENT_SIMPLE_TOPIC_TRAITS(OutgoingMsg, "my_md5sum", "test_roscpp_serialization/OutgoingMsg", "\n");
 
namespace ros
{
 
namespace serialization
{
template<>
struct Serializer<IncomingMsg>
{
  template<typename Stream>
  inline static void write(Stream&, const IncomingMsg&)
  {
  }
 
  template<typename Stream>
  inline static void read(Stream&, IncomingMsg&)
  {
  }
 
  inline static uint32_t serializedLength(const IncomingMsg&)
  {
    return 0;
  }
};
 
template<>
struct Serializer<OutgoingMsg>
{
  template<typename Stream>
  inline static void write(Stream&, const OutgoingMsg&)
  {
  }
 
  template<typename Stream>
  inline static void read(Stream&, OutgoingMsg&)
  {
  }
 
  inline static uint32_t serializedLength(const OutgoingMsg&)
  {
    return 0;
  }
};
 
template<>
struct PreDeserialize<IncomingMsg>
{
  static void notify(const PreDeserializeParams<IncomingMsg>& params)
  {
    params.message->touched = true;
  }
};
} // namespace serialization
} // namespace ros
 
boost::shared_ptr<IncomingMsg const> g_msg;
void callback(const boost::shared_ptr<IncomingMsg const>& msg)
{
  g_msg = msg;
}
 
TEST(PreDeserialize, preDeserialize)
{
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<OutgoingMsg>("test", 0);
  ros::Subscriber sub = nh.subscribe("test", 0, callback);
 
  pub.publish(OutgoingMsg());
 
  while (!g_msg)
  {
    ros::spinOnce();
    ros::WallDuration(0.01).sleep();
  }
 
  EXPECT_TRUE(g_msg->touched);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "builtin_types");
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}