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Verifying that connection_header information is being populated now.

This commit is contained in:
Jeremy Leibs 2010-01-19 10:58:27 +00:00
parent fc134acbbe
commit fe4a5d18d3
1 changed files with 74 additions and 0 deletions
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74
test/test_rosrecord/test/test_recorder_player.cpp
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@ -48,6 +48,12 @@ void string_handler(std::string name, // Topic name
EXPECT_EQ(str->__getDataType(), msg_ptr->__getDataType());
EXPECT_EQ(str->__getMessageDefinition(), msg_ptr->__getMessageDefinition());
EXPECT_EQ((*(str->__connection_header))["latching"], std::string("0"));
EXPECT_EQ((*(str->__connection_header))["callerid"], std::string(""));
EXPECT_EQ((*(str->__connection_header))["md5sum"], msg_ptr->__getMD5Sum());
EXPECT_EQ((*(str->__connection_header))["type"], msg_ptr->__getDataType());
EXPECT_EQ((*(str->__connection_header))["message_definition"], msg_ptr->__getMessageDefinition());
}
void any_handler(std::string name, // Topic name
@ -62,6 +68,12 @@ void any_handler(std::string name, // Topic name
EXPECT_EQ(any->__getDataType(), msg_ptr->__getDataType());
EXPECT_EQ(any->__getMessageDefinition(), msg_ptr->__getMessageDefinition());
EXPECT_EQ((*(any->__connection_header))["latching"], std::string("0"));
EXPECT_EQ((*(any->__connection_header))["callerid"], std::string(""));
EXPECT_EQ((*(any->__connection_header))["md5sum"], msg_ptr->__getMD5Sum());
EXPECT_EQ((*(any->__connection_header))["type"], msg_ptr->__getDataType());
EXPECT_EQ((*(any->__connection_header))["message_definition"], msg_ptr->__getMessageDefinition());
}
@ -100,6 +112,7 @@ TEST(TestSuite, record_play_ref)
std_msgs::String msg;
msg.data = std::string("jklmnop");
EXPECT_TRUE(recorder.record("some_topic", msg, ros::Time::now()));
@ -121,6 +134,67 @@ TEST(TestSuite, record_play_ref)
EXPECT_FALSE(player.nextMsg());
}
void string_latching_handler(std::string name, // Topic name
std_msgs::String* str, // Message pointer
ros::Time t, // Message timestamp
ros::Time t_shift, // Shifted time
void* n) // Void pointer
{
std_msgs::String* msg_ptr = (std_msgs::String*)(n);
EXPECT_EQ((*(str->__connection_header))["latching"], std::string("1"));
EXPECT_EQ((*(str->__connection_header))["callerid"], std::string("/my_node"));
EXPECT_EQ((*(str->__connection_header))["md5sum"], msg_ptr->__getMD5Sum());
EXPECT_EQ((*(str->__connection_header))["type"], msg_ptr->__getDataType());
EXPECT_EQ((*(str->__connection_header))["message_definition"], msg_ptr->__getMessageDefinition());
}
void any_latching_handler(std::string name, // Topic name
ros::Message* any, // Message pointer
ros::Time t, // Message timestamp
ros::Time t_shift, // Shifted time
void* n) // Void pointer
{
std_msgs::String* msg_ptr = (std_msgs::String*)(n);
EXPECT_EQ((*(any->__connection_header))["latching"], std::string("1"));
EXPECT_EQ((*(any->__connection_header))["callerid"], std::string("/my_node"));
EXPECT_EQ((*(any->__connection_header))["md5sum"], msg_ptr->__getMD5Sum());
EXPECT_EQ((*(any->__connection_header))["type"], msg_ptr->__getDataType());
EXPECT_EQ((*(any->__connection_header))["message_definition"], msg_ptr->__getMessageDefinition());
}
TEST(TestSuite, record_play_latching)
{
ros::record::Recorder recorder;
ASSERT_TRUE(recorder.open("test.bag"));
std_msgs::String msg;
msg.data = std::string("qrestuv");
msg.__connection_header = boost::shared_ptr<ros::M_string>(new ros::M_string);
(*msg.__connection_header)["latching"] = std::string("1");
(*msg.__connection_header)["callerid"] = std::string("/my_node");
EXPECT_TRUE(recorder.record("some_topic", msg, ros::Time::now()));
recorder.close();
ros::record::Player player;
ASSERT_TRUE(player.open(std::string("test.bag"), ros::Time()));
player.addHandler<std_msgs::String>(std::string("some_topic"),
&string_latching_handler,
&msg);
player.addHandler<AnyMsg>(std::string("some_topic"),
&any_latching_handler,
&msg,
false);
EXPECT_TRUE(player.nextMsg());
EXPECT_FALSE(player.nextMsg());
}
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();