From add0271a1fac573c33dff9bd3ec0085d4e075ab7 Mon Sep 17 00:00:00 2001
From: Guilherme Affonso <guilherme.c.affonso@gmail.com>
Date: Fri, 28 Oct 2022 17:15:38 +0900
Subject: [PATCH] Add tests for #675

---
 roseus/test/test-memory-service.l    | 31 ++++++++++++++++++++++++++++
 roseus/test/test-memory-subscriber.l | 27 ++++++++++++++++++++++++
 roseus/test/test-memory-timer.l      | 26 +++++++++++++++++++++++
 roseus/test/test-memory.test         | 11 ++++++++++
 4 files changed, 95 insertions(+)
 create mode 100755 roseus/test/test-memory-service.l
 create mode 100755 roseus/test/test-memory-subscriber.l
 create mode 100755 roseus/test/test-memory-timer.l
 create mode 100644 roseus/test/test-memory.test

diff --git a/roseus/test/test-memory-service.l b/roseus/test/test-memory-service.l
new file mode 100755
index 000000000..ad3a969d3
--- /dev/null
+++ b/roseus/test/test-memory-service.l
@@ -0,0 +1,31 @@
+#!/usr/bin/env roseus
+(require :unittest "lib/llib/unittest.l")
+(init-unit-test)
+
+(ros::roseus "test_memory_subscriber")
+(ros::rate 200)
+
+(defclass my-srv :slots (req))
+(defmethod my-srv
+  (:update (_req)
+   (setq req _req)
+   (send _req :response))
+  (:get () req))
+
+(sys:make-thread 1)
+(defun test-once (topic)
+  (let ((srv (instance my-srv)))
+    (ros::advertise-service topic std_srvs::Empty #'send srv :update)
+    (ros::wait-for-service  topic)
+    (sys:thread-no-wait #'ros::service-call topic (instance std_srvs::EmptyRequest :init))
+    (while (not (send srv :get))
+      (ros::spin-once))
+    (ros::unadvertise-service topic)))
+
+(deftest test-service ()
+  (dotimes (i 5000)
+     (if (zerop (mod i 100)) (ros::ros-warn "service: ~A~%" i))
+     (test-once "/roseus_test/srv")))
+
+(run-all-tests)
+(exit)
diff --git a/roseus/test/test-memory-subscriber.l b/roseus/test/test-memory-subscriber.l
new file mode 100755
index 000000000..6d9e5b3b9
--- /dev/null
+++ b/roseus/test/test-memory-subscriber.l
@@ -0,0 +1,27 @@
+#!/usr/bin/env roseus
+(require :unittest "lib/llib/unittest.l")
+(init-unit-test)
+
+(ros::roseus "test_memory_subscriber")
+(ros::rate 200)
+
+(defclass my-sub :slots (msg))
+(defmethod my-sub
+ (:update (_msg) (setq msg _msg))
+ (:get () msg))
+
+(defun test-once (topic msgtype)
+ (let ((sub (instance my-sub)))
+   (ros::subscribe topic msgtype #'send sub :update)
+   (while (not (send sub :get))
+     (ros::spin-once)
+     (ros::sleep))
+   (send sub :get)))
+
+(deftest test-subscriber ()
+  (dotimes (i 5000)
+     (if (zerop (mod i 100)) (ros::ros-warn "subscriber: ~A" i))
+     (test-once "/roseus_test/msg" std_msgs::String)))
+
+(run-all-tests)
+(exit)
diff --git a/roseus/test/test-memory-timer.l b/roseus/test/test-memory-timer.l
new file mode 100755
index 000000000..5e3984500
--- /dev/null
+++ b/roseus/test/test-memory-timer.l
@@ -0,0 +1,26 @@
+#!/usr/bin/env roseus
+(require :unittest "lib/llib/unittest.l")
+(init-unit-test)
+
+(ros::roseus "test_memory_timer")
+(ros::rate 200)
+
+(defclass my-cb :slots (done))
+(defmethod my-cb
+  (:update (event) (setq done t))
+  (:get () done))
+
+(defun test-once ()
+  (let ((tm (instance my-cb)))
+    (ros::create-timer 0.001 #'send tm :update :oneshot t)
+    (while (not (send tm :get))
+      (ros::spin-once)
+      (ros::sleep))))
+
+(deftest test-timer ()
+  (dotimes (i 3000)
+    (if (zerop (mod i 100)) (ros::ros-warn "timer: ~A~%" i))
+    (test-once)))
+
+(run-all-tests)
+(exit)
diff --git a/roseus/test/test-memory.test b/roseus/test/test-memory.test
new file mode 100644
index 000000000..70d446c8c
--- /dev/null
+++ b/roseus/test/test-memory.test
@@ -0,0 +1,11 @@
+<launch>
+  <node name="publisher" pkg="rostopic" type="rostopic"
+        args='pub /roseus_test/msg std_msgs/String "Hello" -r 100' />
+  <test test-name="roseus_subscriber" pkg="roseus" type="roseus" args="$(find roseus)/test/test-memory-subscriber.l"
+        time-limit="600" />
+  <test test-name="roseus_service" pkg="roseus" type="roseus" args="$(find roseus)/test/test-memory-service.l"
+        time-limit="600" />
+  <test test-name="roseus_timer" pkg="roseus" type="roseus" args="$(find roseus)/test/test-memory-timer.l"
+        time-limit="600" />
+</launch>
+