TEST(MessageManagerSuite, init)
{
MessageManager manager;
TestClient client;
EXPECT_TRUE(manager.init(&client));
EXPECT_FALSE(manager.init(NULL));
}
int main(int argc, char** argv)
{
// Initialize ROS node "sm_talker"
ros::init(argc, argv, "sm_listener");
// Required to start timers for non-node ROS use.
ros::Time::init();
// Little message to know she's started
ROS_INFO_STREAM("STARTING SM_MANAGER");
// Create and execute manager
// * Create a TCP server connection on TCP_PORT (see common.h)
// * Initialize manager using server connection
// * Initialize handler using server connection
// * Add handler to manager
// * Execute manager spin loop
TcpServer server;
server.init(TCP_PORT);
MessageManager manager;
MyHandler handler;
manager.init(&server);
// Handler initilaized with reply connection (typically the same as
// incoming connection but now always)
handler.init(&server);
manager.add(&handler);
manager.spin();
return 0;
}
TEST(MessageManagerSuite, addHandler)
{
MessageManager manager;
TestClient client;
PingHandler handler;
EXPECT_EQ(0, (int)manager.getNumHandlers());
ASSERT_TRUE(manager.init(&client));
EXPECT_EQ(1, (int)manager.getNumHandlers());
EXPECT_FALSE(manager.add(NULL));
ASSERT_TRUE(handler.init(&client));
EXPECT_FALSE(manager.add(&handler));
}
int main(int argc, char** argv)
{
char ip[1024] = "192.168.0.50"; // Robot IP address
TcpClient connection;
MessageManager manager;
ros::init(argc, argv, "state_interface");
ros::NodeHandle n;
JointRelayHandler jr_handler(n);
ROS_INFO("Setting up client");
connection.init(ip, StandardSocketPorts::STATE);
connection.makeConnect();
jr_handler.init(&connection);
manager.init(&connection);
manager.add(&jr_handler);
manager.spin();
}
TEST(DISABLED_MessageManagerSuite, tcp)
{
const int port = TEST_PORT_BASE + 201;
char ipAddr[] = "127.0.0.1";
TestClient* client = new TestClient();
TestServer server;
SimpleMessage pingRequest, pingReply;
MessageManager msgManager;
// MessageManager uses ros::ok, which needs ros spinner
ros::AsyncSpinner spinner(0);
spinner.start();
ASSERT_TRUE(pingRequest.init(StandardMsgTypes::PING, CommTypes::SERVICE_REQUEST, ReplyTypes::INVALID));
// TCP Socket testing
// Construct server
ASSERT_TRUE(server.init(port));
// Construct a client
ASSERT_TRUE(client->init(&ipAddr[0], port));
// Connect server and client
pthread_t serverConnectThrd;
pthread_create(&serverConnectThrd, NULL, connectServerFunc, &server);
ASSERT_TRUE(client->makeConnect());
pthread_join(serverConnectThrd, NULL);
// Listen for client connection, init manager and start thread
ASSERT_TRUE(msgManager.init(&server));
// TODO: The message manager is not thread safe (threads are used for testing,
// but running the message manager in a thread results in errors when the
// underlying connection is deconstructed before the manager
//boost::thread spinSrvThrd(boost::bind(&MessageManager::spin, &msgManager));
pthread_t spinSrvThrd;
pthread_create(&spinSrvThrd, NULL, spinFunc, &msgManager);
// Ping the server
ASSERT_TRUE(client->sendMsg(pingRequest));
ASSERT_TRUE(client->receiveMsg(pingReply));
ASSERT_TRUE(client->sendAndReceiveMsg(pingRequest, pingReply));
// Delete client and try to reconnect
delete client;
sleep(10); //Allow time for client to destruct and free up port
client = new TestClient();
ASSERT_TRUE(client->init(&ipAddr[0], port));
ASSERT_TRUE(client->makeConnect());
ASSERT_TRUE(client->sendAndReceiveMsg(pingRequest, pingReply));
pthread_cancel(spinSrvThrd);
pthread_join(spinSrvThrd, NULL);
delete client;
}
