Adds a regression test for logplayback fix in gazebosim#2611 (gazebos…

…im#2619) * Adds a regression test for logplayback gazebosim/gazebo_test_cases#1640 This commit adds a really simple regression check to make sure we actually publish on the right topic. Signed-off-by: Arjo Chakravarty <[email protected]> * typo fix Signed-off-by: Arjo Chakravarty <[email protected]> * Make atomic Signed-off-by: Arjo Chakravarty <[email protected]> --------- Signed-off-by: Arjo Chakravarty <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
rudislabs · Sep 12, 2024 · 0f16949 · 0f16949
1 parent ca40c1d
commit 0f16949
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc
@@ -774,6 +774,18 @@ TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback))
   // Start server
   Server playServer(playServerConfig);
 
+  // Simulate a client
+  gz::transport::Node node;
+  std::atomic<std::size_t> numMsgs = 0;
+  std::function<void(const msgs::SerializedStepMap &)> mockClient =
+    [&](const msgs::SerializedStepMap &/*_res*/)
+  {
+    numMsgs++;
+  };
+  using namespace std::placeholders;
+  EXPECT_TRUE(node.Subscribe(
+    "/world/default/state", mockClient));
+
   // Callback function for entities played back
   // Compare current pose being played back with the pose from the stateMsg
   test::Relay playbackPoseTester;
@@ -837,6 +849,9 @@ TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback))
   // checked in the playbackPoseTester
   playServer.Run(true, 500, false);
 
+  // The client should have received some messages.
+  EXPECT_NE(numMsgs, 0);
+
   // Count the total number of state messages in the log file
   int nTotal{0};
   for (auto it = batch.begin(); it != batch.end(); ++it, ++nTotal) { }