v01

thirdparty/ros/ros_comm/tools/rosconsole/test/assertion_test.cpp

@@ -0,0 +1,76 @@
+/*
+ * 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.
+ */
+
+#define ROS_ASSERT_ENABLED
+
+#include "ros/assert.h"
+
+#include <gtest/gtest.h>
+
+void doAssert()
+{
+  ROS_ASSERT(false);
+}
+
+void doBreak()
+{
+  ROS_BREAK();
+}
+
+void doAssertMessage()
+{
+  ROS_ASSERT_MSG(false, "Testing %d %d %d", 1, 2, 3);
+}
+
+TEST(RosAssert, assert)
+{
+  ROS_ASSERT(true);
+
+  EXPECT_DEATH(doAssert(), "ASSERTION FAILED");
+}
+
+TEST(RosAssert, breakpoint)
+{
+  EXPECT_DEATH(doBreak(), "BREAKPOINT HIT");
+}
+
+TEST(RosAssert, assertWithMessage)
+{
+  ROS_ASSERT_MSG(true, "Testing %d %d %d", 1, 2, 3);
+  EXPECT_DEATH(doAssertMessage(), "Testing 1 2 3");
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::Time::init();
+  testing::FLAGS_gtest_death_test_style = "threadsafe";
+
+  return RUN_ALL_TESTS();
+}

thirdparty/ros/ros_comm/tools/rosconsole/test/thread_test.cpp

@@ -0,0 +1,108 @@
+/*
+ * 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.
+ */
+
+#include "ros/console.h"
+
+#include <gtest/gtest.h>
+
+#include <boost/thread.hpp>
+
+#include "log4cxx/appenderskeleton.h"
+#include "log4cxx/spi/loggingevent.h"
+
+#include <vector>
+
+class TestAppender : public log4cxx::AppenderSkeleton
+{
+public:
+  struct Info
+  {
+    log4cxx::LevelPtr level_;
+    std::string message_;
+    std::string logger_name_;
+  };
+
+  typedef std::vector<Info> V_Info;
+
+  V_Info info_;
+
+protected:
+  virtual void append(const log4cxx::spi::LoggingEventPtr& event, log4cxx::helpers::Pool&)
+  {
+    Info info;
+    info.level_ = event->getLevel();
+    info.message_ = event->getMessage();
+    info.logger_name_ = event->getLoggerName();
+
+    info_.push_back( info );
+  }
+
+  virtual void close()
+  {
+  }
+  virtual bool requiresLayout() const
+  {
+    return false;
+  }
+};
+
+void threadFunc(boost::barrier* b)
+{
+  b->wait();
+  ROS_INFO("Hello");
+}
+
+// Ensure all threaded calls go out
+TEST(Rosconsole, threadedCalls)
+{
+  log4cxx::LoggerPtr logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
+
+  TestAppender* appender = new TestAppender;
+  logger->addAppender( appender );
+
+  boost::thread_group tg;
+  boost::barrier b(10);
+  for (uint32_t i = 0; i < 10; ++i)
+  {
+    tg.create_thread(boost::bind(threadFunc, &b));
+  }
+  tg.join_all();
+
+  ASSERT_EQ(appender->info_.size(), 10ULL);
+
+  logger->removeAppender(appender);
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::Time::init();
+
+  return RUN_ALL_TESTS();
+}