wait_for_message.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
/* Author: Josh Faust */
 
#include <string>
#include <sstream>
#include <fstream>
 
#include <gtest/gtest.h>
 
#include <time.h>
#include <stdlib.h>
 
#include "ros/ros.h"
#include <test_roscpp/TestArray.h>
 
using namespace ros;
using namespace test_roscpp;
 
TEST(Roscpp, waitForMessage)
{
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<TestArray>("test", 1, true);
  pub.publish(TestArray());
  TestArrayConstPtr msg = topic::waitForMessage<TestArray>("test");
  ASSERT_TRUE(msg);
}
 
TEST(Roscpp, waitForMessageWithTimeout)
{
  ros::NodeHandle nh;
 
  ros::Time start = ros::Time::now();
  TestArrayConstPtr msg = topic::waitForMessage<TestArray>("test", ros::Duration(1.0));
  ros::Time end = ros::Time::now();
  ros::Duration dur = end - start;
  ASSERT_GE(dur, ros::Duration(1.0));
  ASSERT_FALSE(msg);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "wait_for_message");
 
  ros::NodeHandle nh;
 
  return RUN_ALL_TESTS();
}