110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <unistd.h>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class Issue1782Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(Issue1782Test, Unadvertise)
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{
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this->Load("worlds/empty.world");
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// Check that transport is running and there are advertised topics
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EXPECT_FALSE(transport::is_stopped());
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EXPECT_TRUE(transport::ConnectionManager::Instance()->IsRunning());
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EXPECT_FALSE(transport::getAdvertisedTopics().empty());
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// Check that our topic is not advertised yet
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auto topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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EXPECT_TRUE(topics.empty());
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// Initialize transport node
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transport::NodePtr node = transport::NodePtr(new transport::Node());
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node->Init();
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ASSERT_TRUE(node != NULL);
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std::string fullTopic = "/gazebo/" + node->GetTopicNamespace() +
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"/test_topic";
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// Advertise two publishers to the same topic
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auto pubA = node->Advertise<msgs::Vector3d>(fullTopic);
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ASSERT_TRUE(pubA != NULL);
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auto pubB = node->Advertise<msgs::Vector3d>(fullTopic);
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ASSERT_TRUE(pubA != NULL);
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// Check that topic has been advertised
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topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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int sleep = 0;
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int maxSleep = 10;
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while (topics.empty() && sleep < maxSleep)
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{
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topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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common::Time::MSleep(100);
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sleep++;
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}
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EXPECT_FALSE(topics.empty());
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EXPECT_TRUE(std::find(topics.begin(), topics.end(),
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fullTopic) != topics.end());
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// Finish pubB
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pubB->Fini();
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pubB.reset();
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// Check that topic is still advertised
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topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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sleep = 0;
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while (!topics.empty() && sleep < maxSleep)
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{
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topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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common::Time::MSleep(100);
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sleep++;
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}
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EXPECT_FALSE(topics.empty());
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EXPECT_TRUE(std::find(topics.begin(), topics.end(),
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fullTopic) != topics.end());
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// Finish pubA
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pubA->Fini();
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pubA.reset();
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// Check that topic was unadvertised now that there are no publishers left
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topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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sleep = 0;
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while (!topics.empty() && sleep < maxSleep)
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{
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topics = transport::getAdvertisedTopics("gazebo.msgs.Vector3d");
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common::Time::MSleep(100);
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sleep++;
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}
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EXPECT_TRUE(topics.empty());
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}
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/////////////////////////////////////////////////
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// Main
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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