106 lines
3.1 KiB
C++
106 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 <gtest/gtest.h>
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/Model.hh"
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#include "gazebo/physics/JointController.hh"
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#include "gazebo/common/PID.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "test_config.h"
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using namespace gazebo;
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class Issue602Test : public ServerFixture
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{
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/// \brief Test for Unsubscribe before delete subscriber.
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public: void UnsubscribeTest();
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/// \brief Callback for sensor subscribers in MultipleSensors test.
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/// \param[in] _msg World Statistics message.
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public: void Callback(const ConstContactsPtr &_msg);
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};
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unsigned int g_messageCount = 0;
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////////////////////////////////////////////////////////////////////////
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void Issue602Test::Callback(const ConstContactsPtr &/*_msg*/)
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{
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g_messageCount++;
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}
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/////////////////////////////////////////////////
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TEST_F(Issue602Test, Unsubscribe)
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{
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UnsubscribeTest();
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}
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/////////////////////////////////////////////////
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void Issue602Test::UnsubscribeTest()
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{
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Load("worlds/contact_sensors_multiple.world", true);
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physics::WorldPtr world = physics::get_world();
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ASSERT_TRUE(world != NULL);
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const std::string contactSensorName1("box_contact");
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const std::string contactSensorName2("box_contact2");
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{
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sensors::SensorPtr sensor1 = sensors::get_sensor(contactSensorName1);
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sensors::ContactSensorPtr contactSensor1 =
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std::dynamic_pointer_cast<sensors::ContactSensor>(sensor1);
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ASSERT_TRUE(contactSensor1 != NULL);
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}
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{
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sensors::SensorPtr sensor2 = sensors::get_sensor(contactSensorName2);
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sensors::ContactSensorPtr contactSensor2 =
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std::dynamic_pointer_cast<sensors::ContactSensor>(sensor2);
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ASSERT_TRUE(contactSensor2 != NULL);
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}
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// Sleep to ensure transport topics are all advertised
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common::Time::MSleep(100);
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auto topics = transport::getAdvertisedTopics("gazebo.msgs.Contacts");
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EXPECT_FALSE(topics.empty());
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EXPECT_GE(topics.size(), 4u);
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// We should expect them all to publish.
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for (auto const &topic : topics)
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{
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gzdbg << "Listening to " << topic << std::endl;
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g_messageCount = 0;
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transport::SubscriberPtr sub = this->node->Subscribe(topic,
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&Issue602Test::Callback, this);
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const unsigned int steps = 50;
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world->Step(steps);
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common::Time::MSleep(steps);
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sub->Unsubscribe();
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common::Time::MSleep(steps);
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}
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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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