test_simple.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, 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 the Willow Garage 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.
*********************************************************************/
 
#include <gtest/gtest.h>
 
#include "ros/time.h"
#include <ros/init.h>
#include "message_filters/simple_filter.h"
 
using namespace message_filters;
 
struct Msg
{
};
typedef boost::shared_ptr<Msg> MsgPtr;
typedef boost::shared_ptr<Msg const> MsgConstPtr;
 
struct Filter : public SimpleFilter<Msg>
{
  typedef ros::MessageEvent<Msg const> EventType;
 
  void add(const EventType& evt)
  {
    signalMessage(evt);
  }
};
 
class Helper
{
public:
  Helper()
  {
    counts_.assign(0);
  }
 
  void cb0(const MsgConstPtr&)
  {
    ++counts_[0];
  }
 
  void cb1(const Msg&)
  {
    ++counts_[1];
  }
 
  void cb2(MsgConstPtr)
  {
    ++counts_[2];
  }
 
  void cb3(const ros::MessageEvent<Msg const>&)
  {
    ++counts_[3];
  }
 
  void cb4(Msg)
  {
    ++counts_[4];
  }
 
  void cb5(const MsgPtr&)
  {
    ++counts_[5];
  }
 
  void cb6(MsgPtr)
  {
    ++counts_[6];
  }
 
  void cb7(const ros::MessageEvent<Msg>&)
  {
    ++counts_[7];
  }
 
  boost::array<int32_t, 30> counts_;
};
 
TEST(SimpleFilter, callbackTypes)
{
  Helper h;
  Filter f;
  f.registerCallback(boost::bind(&Helper::cb0, &h, boost::placeholders::_1));
  f.registerCallback<const Msg&>(boost::bind(&Helper::cb1, &h, boost::placeholders::_1));
  f.registerCallback<MsgConstPtr>(boost::bind(&Helper::cb2, &h, boost::placeholders::_1));
  f.registerCallback<const ros::MessageEvent<Msg const>&>(boost::bind(&Helper::cb3, &h, boost::placeholders::_1));
  f.registerCallback<Msg>(boost::bind(&Helper::cb4, &h, boost::placeholders::_1));
  f.registerCallback<const MsgPtr&>(boost::bind(&Helper::cb5, &h, boost::placeholders::_1));
  f.registerCallback<MsgPtr>(boost::bind(&Helper::cb6, &h, boost::placeholders::_1));
  f.registerCallback<const ros::MessageEvent<Msg>&>(boost::bind(&Helper::cb7, &h, boost::placeholders::_1));
 
  f.add(Filter::EventType(boost::make_shared<Msg>()));
  EXPECT_EQ(h.counts_[0], 1);
  EXPECT_EQ(h.counts_[1], 1);
  EXPECT_EQ(h.counts_[2], 1);
  EXPECT_EQ(h.counts_[3], 1);
  EXPECT_EQ(h.counts_[4], 1);
  EXPECT_EQ(h.counts_[5], 1);
  EXPECT_EQ(h.counts_[6], 1);
  EXPECT_EQ(h.counts_[7], 1);
}
 
struct OldFilter
{
  Connection registerCallback(const boost::function<void(const MsgConstPtr&)>&)
  {
    return Connection();
  }
};
 
TEST(SimpleFilter, oldRegisterWithNewFilter)
{
  OldFilter f;
  Helper h;
  f.registerCallback(boost::bind(&Helper::cb3, &h, boost::placeholders::_1));
}
 
int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "blah");
  ros::Time::init();
 
  return RUN_ALL_TESTS();
}