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Ivan
2022-04-05 11:42:28 +03:00
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71
thirdparty/ros/ros_comm/tools/topic_tools/test/args.py vendored Normal file
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# Software License Agreement (BSD License)
#
# 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: Brian Gerkey
# Test that arg-parsing works
PKG = 'topic_tools'
import unittest
import os
from subprocess import call
class TopicToolsTestCase(unittest.TestCase):
def test_drop_invalid(self):
cmd = ['rosrun', 'topic_tools', 'drop']
self.assertNotEquals(0, call(cmd))
self.assertNotEquals(0, call(cmd + ['//', '1', '2', 'output']))
self.assertNotEquals(0, call(cmd + ['input', '1', '2', 'output', 'extra']))
self.assertNotEquals(0, call(cmd + ['input', '-1', '2', 'output']))
self.assertNotEquals(0, call(cmd + ['input', '1', '0', 'output']))
def test_mux_invalid(self):
cmd = ['rosrun', 'topic_tools', 'mux']
self.assertNotEquals(0, call(cmd))
self.assertNotEquals(0, call(cmd + ['//', 'input']))
def test_switch_mux_invalid(self):
cmd = ['rosrun', 'topic_tools', 'switch_mux']
self.assertNotEquals(0, call(cmd))
self.assertNotEquals(0, call(cmd + ['//', 'input']))
def test_relay_invalid(self):
cmd = ['rosrun', 'topic_tools', 'relay']
self.assertNotEquals(0, call(cmd))
self.assertNotEquals(0, call(cmd + ['//', 'input']))
if __name__ == "__main__":
import rostest
rostest.unitrun(PKG, 'topic_tools_arg_parsing', TopicToolsTestCase)

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thirdparty/ros/ros_comm/tools/topic_tools/test/delete_mux.test vendored Normal file
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<!-- Testing the condition described in #2863 -->
<launch>
<node pkg="topic_tools" type="mux" name="mux"
args="a b c" output="screen"/>
<node pkg="topic_tools" type="test_mux_delete_add.py"
name="test_mux_delete_add" />
<test test-name="delete_mux_hztest" pkg="rostest" type="hztest">
<param name="topic" value="a"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/drop.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub"
args="pub -r 10 input std_msgs/String chatter"/>
<!-- Automatic output name -->
<node pkg="topic_tools" type="drop" name="drop"
args="input 1 2"/>
<test test-name="drop_hztest" pkg="rostest" type="hztest">
<param name="topic" value="input_drop"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
<!-- Explicit output name -->
<node pkg="topic_tools" type="drop" name="drop_explicit"
args="input 1 2 output"/>
<test test-name="drop_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/lazy_transport.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="input"
args="pub /input std_msgs/String 'data: spam' -r 10">
</node>
<node name="simple_lazy_string_transport"
pkg="topic_tools" type="simple_lazy_transport.py">
<remap from="~input" to="input" />
<param name="~lazy" value="true" />
<rosparam>
msg_name: std_msgs/String
</rosparam>
</node>
<test test-name="test_lazy_transport"
name="test_lazy_transport"
pkg="topic_tools" type="test_lazy_transport.py"
retry="3">
<remap from="~input" to="simple_lazy_string_transport/output" />
<rosparam>
input_topic_type: std_msgs/String
check_connected_topics: [simple_lazy_string_transport/output, input]
wait_for_connection: 3
</rosparam>
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/mux.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub1"
args="pub -r 10 input1 std_msgs/String input1"/>
<node pkg="rostopic" type="rostopic" name="rostopic_pub2"
args="pub -r 5 input2 std_msgs/String input2"/>
<!-- Explicit output name -->
<node pkg="topic_tools" type="mux" name="mux_explicit" output="screen"
args="output input1 input2"/>
<test test-name="mux_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="10.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/mux_add.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub1"
args="pub -r 10 input1 std_msgs/String input"/>
<node pkg="topic_tools" type="mux" name="mux_explicit" output="screen"
args="output input"/>
<test test-name="mux_services" pkg="test_topic_tools" type="test_mux_services.py"/>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/relay.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub"
args="pub -r 10 input std_msgs/String chatter"/>
<!-- Automatic output name -->
<node pkg="topic_tools" type="relay" name="relay"
args="input"/>
<test test-name="relay_hztest" pkg="rostest" type="hztest">
<param name="topic" value="input_relay"/>
<param name="hz" value="10.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
<!-- Explicit output name -->
<node pkg="topic_tools" type="relay" name="relay_explicit"
args="input output"/>
<test test-name="relay_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="10.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/relay_latched.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub"
args="pub input std_msgs/String chatter"/>
<node pkg="topic_tools" type="relay" name="relay"
args="input output"/>
<test test-name="relay_latched" pkg="test_topic_tools" type="test_one_message.py" time-limit="10"/>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/shapeshifter.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub"
args="pub -r 10 input std_msgs/String chatter"/>
<test test-name="test_shapeshifter" pkg="topic_tools" type="topic_tools-test_shapeshifter"/>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/switch_mux.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub1"
args="pub -r 10 input1 std_msgs/String chatter"/>
<node pkg="rostopic" type="rostopic" name="rostopic_pub2"
args="pub -r 5 input2 std_msgs/String chatter"/>
<!-- Explicit output name -->
<node pkg="topic_tools" type="mux" name="mux_explicit"
args="output input1 input2"/>
<node pkg="topic_tools" type="mux_select" name="mux_select"
args="mux input2"/>
<test test-name="switch_mux_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/switch_mux_leading_slash.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub1"
args="pub -r 10 input1 std_msgs/String chatter"/>
<node pkg="rostopic" type="rostopic" name="rostopic_pub2"
args="pub -r 5 input2 std_msgs/String chatter"/>
<!-- Explicit output name -->
<node pkg="topic_tools" type="mux" name="mux_explicit"
args="output input1 input2"/>
<node pkg="topic_tools" type="mux_select" name="mux_select"
args="mux /input2"/>
<test test-name="switch_mux_leading_slash_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/switch_mux_none.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub1"
args="pub -r 10 input1 std_msgs/String chatter"/>
<node pkg="rostopic" type="rostopic" name="rostopic_pub2"
args="pub -r 5 input2 std_msgs/String chatter"/>
<!-- Explicit output name -->
<node pkg="topic_tools" type="mux" name="mux_explicit"
args="output input1 input2"/>
<node pkg="topic_tools" type="mux_select" name="mux_select"
args="mux __none"/>
<test test-name="switch_mux_none_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="0.0"/>
<param name="hzerror" value="0.5"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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thirdparty/ros/ros_comm/tools/topic_tools/test/test_lazy_transport.py vendored Executable file
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#!/usr/bin/env python
import os
import sys
import unittest
import rosgraph
import rospy
import rosmsg
import roslib
PKG = 'topic_tools'
NAME = 'test_lazy_transport'
class TestLazyTransport(unittest.TestCase):
def __init__(self, *args):
super(self.__class__, self).__init__(*args)
rospy.init_node(NAME)
def test_no_subscribers(self):
check_connected_topics = rospy.get_param('~check_connected_topics')
master = rosgraph.Master('/test_connection')
_, sub, _ = master.getSystemState()
# Check assumed topics are not there
master = rosgraph.Master('test_connection')
_, subscriptions, _ = master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
raise ValueError('Found topic: {}'.format(check_topic))
def test_subscriber_appears(self):
topic_type = rospy.get_param('~input_topic_type')
check_connected_topics = rospy.get_param('~check_connected_topics')
wait_time = rospy.get_param('~wait_for_connection', 0)
msg_class = roslib.message.get_message_class(topic_type)
# Subscribe topic and bond connection
sub = rospy.Subscriber('~input', msg_class,
self._cb_test_subscriber_appears)
print('Waiting for connection for {} sec.'.format(wait_time))
rospy.sleep(wait_time)
# Check assumed topics are there
master = rosgraph.Master('test_connection')
_, subscriptions, _ = master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
break
else:
raise ValueError('Topic Not Found: {}'
.format(rospy.get_namespace() + check_topic))
sub.unregister()
def _cb_test_subscriber_appears(self, msg):
pass
if __name__ == "__main__":
import rostest
rostest.rosrun(PKG, NAME, TestLazyTransport)

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thirdparty/ros/ros_comm/tools/topic_tools/test/test_mux_delete_add.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# 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: Brian Gerkey
PKG = 'topic_tools'
import rospy
from topic_tools.srv import MuxAdd
from topic_tools.srv import MuxDelete
from topic_tools.srv import MuxList
from topic_tools.srv import MuxSelect
from std_msgs.msg import String
def go():
rospy.init_node('chatter')
rospy.wait_for_service('mux/add', 5)
rospy.wait_for_service('mux/delete', 5)
rospy.wait_for_service('mux/list', 5)
rospy.wait_for_service('mux/select', 5)
add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
list_srv = rospy.ServiceProxy('mux/list', MuxList)
select_srv = rospy.ServiceProxy('mux/select', MuxSelect)
b_pub = rospy.Publisher('b', String)
# Execute the sequence given in #2863
select_srv('c')
delete_srv('b')
add_srv('b')
select_srv('b')
# Now start publishing on b
while not rospy.is_shutdown():
b_pub.publish('foo')
rospy.sleep(0.2)
if __name__ == "__main__":
go()

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thirdparty/ros/ros_comm/tools/topic_tools/test/test_mux_services.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# 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: Brian Gerkey
PKG = 'topic_tools'
import unittest
import rospy
from topic_tools.srv import MuxAdd
from topic_tools.srv import MuxDelete
from topic_tools.srv import MuxList
from topic_tools.srv import MuxSelect
class MuxServiceTestCase(unittest.TestCase):
def make_srv_proxies(self):
try:
rospy.wait_for_service('mux/add', 5)
rospy.wait_for_service('mux/delete', 5)
rospy.wait_for_service('mux/list', 5)
rospy.wait_for_service('mux/select', 5)
except rospy.ROSException as e:
self.fail('failed to find a required service: ' + repr(e))
add_srv = rospy.ServiceProxy('mux/add', MuxAdd)
delete_srv = rospy.ServiceProxy('mux/delete', MuxDelete)
list_srv = rospy.ServiceProxy('mux/list', MuxList)
select_srv = rospy.ServiceProxy('mux/select', MuxSelect)
return (add_srv, delete_srv, list_srv, select_srv)
def test_add_delete_list(self):
add_srv, delete_srv, list_srv, select_srv = self.make_srv_proxies()
# Check initial condition
topics = list_srv().topics
self.assertEquals(set(topics), set(['/input']))
# Add a topic and make sure it's there
add_srv('/new_input')
topics = list_srv().topics
self.assertEquals(set(topics), set(['/input', '/new_input']))
# Try to add the same topic again, make sure it fails, and that
# nothing changes.
try:
add_srv('/new_input')
except rospy.ServiceException:
pass
else:
self.fail('service call should have thrown an exception')
topics = list_srv().topics
self.assertEquals(set(topics), set(['/input', '/new_input']))
# Select a topic, then try to delete it, make sure it fails, and
# that nothing changes.
select_srv('/input')
try:
delete_srv('/input')
except rospy.ServiceException:
pass
else:
self.fail('service call should have thrown an exception')
topics = list_srv().topics
self.assertEquals(set(topics), set(['/input', '/new_input']))
# Select nothing, to allow deletion
select_srv('__none')
# Delete topics
delete_srv('/input')
topics = list_srv().topics
self.assertEquals(set(topics), set(['/new_input']))
delete_srv('/new_input')
topics = list_srv().topics
self.assertEquals(set(topics), set([]))
if __name__ == "__main__":
import rostest
rostest.unitrun(PKG, 'mux_services', MuxServiceTestCase)

60
thirdparty/ros/ros_comm/tools/topic_tools/test/test_one_message.py vendored Executable file
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#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# 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.
import unittest
import rospy
import rostest
import sys
from std_msgs.msg import *
class LatchedSub(unittest.TestCase):
def msg_cb(self, msg):
self.success = True
def test_latched_sub(self):
rospy.init_node('random_sub')
self.success = False
sub = rospy.Subscriber("output", String, self.msg_cb)
while not self.success:
rospy.sleep(rospy.Duration.from_sec(0.5))
self.assertEqual(self.success, True)
if __name__ == '__main__':
rostest.rosrun('rosbag', 'latched_sub', LatchedSub, sys.argv)

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thirdparty/ros/ros_comm/tools/topic_tools/test/test_shapeshifter.cpp vendored Normal file
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, 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.
********************************************************************/
// Bring in my package's API, which is what I'm testing
#include "ros/ros.h"
#include "topic_tools/shape_shifter.h"
#include "std_msgs/String.h"
#include "std_msgs/Int32.h"
// Bring in gtest
#include <gtest/gtest.h>
class ShapeShifterSubscriber : public testing::Test
{
public:
bool success;
void messageCallbackInt(const topic_tools::ShapeShifter::ConstPtr& msg)
{
try {
std_msgs::Int32::Ptr s = msg->instantiate<std_msgs::Int32>();
} catch (topic_tools::ShapeShifterException& e)
{
success = true;
}
}
void messageCallbackString(const topic_tools::ShapeShifter::ConstPtr& msg)
{
try {
std_msgs::String::Ptr s = msg->instantiate<std_msgs::String>();
if (s->data == "chatter")
success = true;
} catch (topic_tools::ShapeShifterException& e)
{
}
}
void messageCallbackLoopback(const topic_tools::ShapeShifter::ConstPtr& msg)
{
try {
std_msgs::String::Ptr s = msg->instantiate<std_msgs::String>();
printf("Got data: %s", s->data.c_str());
if (s->data == "abc123")
success = true;
} catch (topic_tools::ShapeShifterException& e)
{
printf("Instantiate failed!\n");
}
}
protected:
ShapeShifterSubscriber() {}
void SetUp()
{
success = false;
}
void TearDown() {}
};
TEST_F(ShapeShifterSubscriber, testInstantiateString)
{
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("input",1,&ShapeShifterSubscriber::messageCallbackString, (ShapeShifterSubscriber*)this);
ros::Time t1(ros::Time::now()+ros::Duration(10.0));
while(ros::Time::now() < t1 && !success)
{
ros::WallDuration(0.01).sleep();
ros::spinOnce();
}
EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
if(success)
SUCCEED();
else
FAIL();
}
TEST_F(ShapeShifterSubscriber, testInstantiateInt)
{
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("input",1,&ShapeShifterSubscriber::messageCallbackInt, (ShapeShifterSubscriber*)this);
ros::Time t1(ros::Time::now()+ros::Duration(10.0));
while(ros::Time::now() < t1 && !success)
{
ros::WallDuration(0.01).sleep();
ros::spinOnce();
}
EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
if(success)
SUCCEED();
else
FAIL();
}
TEST_F(ShapeShifterSubscriber, testLoopback)
{
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe<topic_tools::ShapeShifter>("loopback",1,&ShapeShifterSubscriber::messageCallbackLoopback, (ShapeShifterSubscriber*)this);
ros::Time t1(ros::Time::now()+ros::Duration(10.0));
ros::Publisher pub = nh.advertise<std_msgs::String>("loopback", 1);
std_msgs::String s;
s.data = "abc123";
pub.publish(s);
while(ros::Time::now() < t1 && !success)
{
ros::WallDuration(0.01).sleep();
ros::spinOnce();
}
EXPECT_FALSE(topic_tools::ShapeShifter::uses_old_API_);
if(success)
SUCCEED();
else
FAIL();
}
int main(int argc, char **argv){
ros::init(argc, argv, "test_shapeshifter");
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

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thirdparty/ros/ros_comm/tools/topic_tools/test/throttle.test vendored Normal file
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<launch>
<node pkg="rostopic" type="rostopic" name="rostopic_pub"
args="pub -r 20 input std_msgs/String chatter"/>
<!-- Automatic output name -->
<node pkg="topic_tools" type="throttle" name="throttle"
args="messages input 5"/>
<test test-name="throttle_hztest" pkg="rostest" type="hztest">
<param name="topic" value="input_throttle"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="1.0"/>
<param name="test_duration" value="2.0" />
</test>
<!-- Explicit output name -->
<node pkg="topic_tools" type="throttle" name="throttle_explicit"
args="messages input 5 output"/>
<test test-name="throttle_hztest_explicit" pkg="rostest" type="hztest">
<param name="topic" value="output"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="1.0"/>
<param name="test_duration" value="2.0" />
</test>
<!-- Test byte-based throttling. Note that the desired rate for the
hztest is a function of both the requested bytes/second and the length of
the string being published:
10 msg/sec = 110 B/sec / 11 B/msg
(11 = 4-byte length + 7 characters in "chatter")
It would be more direct to test the bandwidth directly, but hztest
doesn't do that. -->
<node pkg="topic_tools" type="throttle" name="throttle_bytes"
args="bytes input 110 1 output_bytes"/>
<test test-name="throttle_hztest_bytes" pkg="rostest" type="hztest">
<param name="topic" value="output_bytes"/>
<param name="hz" value="10.0"/>
<!-- Wider tolerance because we're seeing occasional under-minimum failures -->
<param name="hzerror" value="1.5"/>
<param name="test_duration" value="4.0" />
</test>
</launch>

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<launch>
<param name="use_sim_time" value="True"/>
<node pkg="rostopic" type="rostopic" name="rostopic_pub"
args="pub -r 20 input std_msgs/String chatter"/>
<!-- Automatic output name -->
<node pkg="topic_tools" type="throttle" name="throttle"
args="messages input 5">
<param name="wall_clock" value="True"/>
</node>
<test test-name="throttle_simtime_hztest" pkg="rostest" type="hztest">
<param name="topic" value="input_throttle"/>
<param name="hz" value="5.0"/>
<param name="hzerror" value="1.0"/>
<param name="wall_clock" value="True"/>
<param name="test_duration" value="2.0" />
</test>
</launch>

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// Copyright (c) 2009, 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 "topic_tools/parse.h"
#include <gtest/gtest.h>
TEST(GetBaseName, simpleName)
{
std::string in("foo");
std::string expected("foo");
std::string out;
ASSERT_TRUE(topic_tools::getBaseName(in, out));
ASSERT_EQ(expected, out);
}
TEST(GetBaseName, leadingSlash)
{
std::string in("/foo");
std::string expected("foo");
std::string out;
ASSERT_TRUE(topic_tools::getBaseName(in, out));
ASSERT_EQ(expected, out);
}
TEST(GetBaseName, trailingSlash)
{
std::string in("foo/");
std::string expected("foo");
std::string out;
ASSERT_TRUE(topic_tools::getBaseName(in, out));
ASSERT_EQ(expected, out);
}
TEST(GetBaseName, multipleLevels)
{
std::string in("bar/bat/baz/foo");
std::string expected("foo");
std::string out;
ASSERT_TRUE(topic_tools::getBaseName(in, out));
ASSERT_EQ(expected, out);
}
TEST(GetBaseName, multipleSlashes)
{
std::string in("//bar///bat/baz/foo///");
std::string expected("foo");
std::string out;
ASSERT_TRUE(topic_tools::getBaseName(in, out));
ASSERT_EQ(expected, out);
}
TEST(GetBaseName, emptyName)
{
std::string in("///");
std::string out;
ASSERT_FALSE(topic_tools::getBaseName(in, out));
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}