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#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <time.h>
#include <gtest/gtest.h>
#include <lcm/lcm.h>
#include "common.hpp"
#define info(...) do { printf("cpp_client: "); printf(__VA_ARGS__); \
printf("\n"); } while(0)
class EchoTest {
public:
EchoTest()
: lcm_(),
num_trials_(100),
test_channel_("TEST_ECHO"),
response_count_(0),
echo_data_(NULL),
echo_msg_len_(0),
subscription_() {
}
bool Run(void) {
int maxlen = 10000;
int minlen = 10;
echo_data_ = (uint8_t*) malloc(maxlen);
subscription_ = lcm_.subscribe(test_channel_ + "_REPLY",
&EchoTest::Handler, this);
response_count_ = 0;
for (int iter = 0; iter < num_trials_; iter++) {
echo_msg_len_ = rand() % (maxlen - minlen) + minlen;
for (int i = 0; i < echo_msg_len_; i++)
echo_data_[i] = rand() % 256;
lcm_.publish(test_channel_, echo_data_, echo_msg_len_);
if (lcm_.handleTimeout(500) <= 0 || (response_count_ != iter + 1)) {
info("echo test failed to receive response on iteration %d", iter);
free(echo_data_);
return false;
}
}
lcm_.unsubscribe(subscription_);
free(echo_data_);
return true;
}
private:
void Handler(const lcm::ReceiveBuffer *rbuf, const std::string& channel) {
if (rbuf->data_size != echo_msg_len_)
return;
if (memcmp(rbuf->data, echo_data_, rbuf->data_size))
return;
response_count_++;
}
lcm::LCM lcm_;
int num_trials_;
int echo_msg_len_;
uint8_t* echo_data_;
int response_count_;
lcm::Subscription* subscription_;
std::string test_channel_;
};
TEST(LCM_CPP, Echo) {
srand(time(NULL));
EXPECT_TRUE(EchoTest().Run());
}
template<class LcmType>
class TypedTest {
public:
TypedTest(const std::string test_name, int num_trials)
: lcm_(),
test_channel_(test_name),
response_count_(0),
num_trials_(num_trials),
subscription_() {
}
bool Run(void) {
LcmType msg;
lcm::Subscription* subscription = lcm_.subscribe(
test_channel_ + "_reply", &TypedTest<LcmType>::Handler, this);
bool result = true;
for (int trial = 0; trial < num_trials_ && result; trial++) {
FillLcmType(trial, &msg);
lcm_.publish(test_channel_, &msg);
if (lcm_.handleTimeout(500) <= 0) {
info("%s test: Timeout waiting for reply", test_channel_.c_str());
result = false;
break;
} else if (response_count_ != trial + 1) {
info("%s test: failed on iteration %d", test_channel_.c_str(), trial);
result = false;
break;
}
ClearLcmType(&msg);
}
lcm_.unsubscribe(subscription);
return result;
}
private:
void Handler(const lcm::ReceiveBuffer* rbuf, const std::string& channel,
const LcmType* msg) {
if (CheckLcmType(msg, response_count_ + 1)) {
response_count_++;
return;
}
}
lcm::LCM lcm_;
int response_count_;
int num_trials_;
lcm::Subscription* subscription_;
std::string test_channel_;
};
TEST(LCM_CPP, primitives_t) {
EXPECT_TRUE(TypedTest<lcmtest::primitives_t>("test_lcmtest_primitives_t",
1000).Run());
}
TEST(LCM_CPP, primitives_list_t) {
EXPECT_TRUE(TypedTest<lcmtest::primitives_list_t>(
"test_lcmtest_primitives_list_t", 100).Run());
}
TEST(LCM_CPP, node_t) {
EXPECT_TRUE(TypedTest<lcmtest::node_t>("test_lcmtest_node_t",
7).Run());
}
TEST(LCM_CPP, multidim_array_t) {
EXPECT_TRUE(TypedTest<lcmtest::multidim_array_t>(
"test_lcmtest_multidim_array_t", 5).Run());
}
TEST(LCM_CPP, cross_package_t) {
EXPECT_TRUE(TypedTest<lcmtest2::cross_package_t>(
"test_lcmtest2_cross_package_t", 100).Run());
}
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