Improve test coverage

test/examples/check-topics.examples.js

@@ -10,15 +10,44 @@ var expectedTopics = [
 ];
 
 describe('Example topics are live', function(done) {
+    var ros = new ROSLIB.Ros({
+        url: 'ws://localhost:9090'
+    });
+
     it('getTopics', function(done) {
-        var ros = new ROSLIB.Ros({
-            url: 'ws://localhost:9090'
-        });
         ros.getTopics(function(topics) {
             expectedTopics.forEach(function(topic) {
                 expect(topics).to.contain(topic, 'Couldn\'t find topic: ' + topic);
             });
             done();
         });
     });
+
+    var example = ros.Topic({
+        name: '/some_test_topic',
+        messageType: 'std_msgs/String'
+    });
+
+    it('doesn\'t automatically advertise the topic', function(done) {
+        ros.getTopics(function(topics) {
+            expect(topics).not.to.contain('/some_test_topic');
+            example.advertise();
+            done();
+        });
+    });
+
+    it('advertise broadcasts the topic', function(done) {
+        ros.getTopics(function(topics) {
+            expect(topics).to.contain('/some_test_topic');
+            example.unadvertise();
+            done();
+        });
+    });
+
+    it('unadvertise will end the topic (if it\s the last around)', function(done) {
+        ros.getTopics(function(topics) {
+            expect(topics).not.to.contain('/some_test_topic');
+            done();
+        });
+    });
 });

test/examples/pubsub.example.js

@@ -0,0 +1,100 @@
+var expect = require('chai').expect;
+var ROSLIB = require('../..');
+
+describe('Topics Example', function() {
+    this.timeout(1000);
+
+    var ros = new ROSLIB.Ros({
+        url: 'ws://localhost:9090'
+    });
+
+    var example = ros.Topic({
+        name: '/example_topic',
+        messageType: 'std_msgs/String'
+    });
+
+    function format(msg) {
+        return {data: msg};
+    }
+    var messages1 = ['Hello Example2!', 'Whats good?'].map(format);
+    var messages2 = ['Hi there', 'this example working'].map(format);
+
+    var example2 = ros.Topic({
+        name: '/example_topic',
+        messageType: 'std_msgs/String'
+    });
+
+    it('Listening and publishing to a topic', function(done) {
+        // Kind of harry...
+        var topic1msg = messages1[0],
+            topic2msg = {};
+        example.subscribe(function(message) {
+            if (message.data === topic1msg.data) return;
+            topic1msg = messages1[0];
+            expect(message).to.be.eql(messages2.shift());
+            if (messages1.length) example.publish(topic1msg);
+            else done();
+        });
+        example2.subscribe(function(message) {
+            if (message.data === topic2msg.data) return;
+            topic2msg = messages2[0];
+            expect(message).to.be.eql(messages1.shift());
+            if (messages2.length) example2.publish(topic2msg);
+            else done();
+        });
+        example.publish(topic1msg);
+    });
+
+    it('unsubscribe doesn\'t affect other topics', function(done) {
+        example2.subscribe(function(message) {
+            // should never be called
+            expect(false).to.be.ok;
+        });
+        example.unsubscribe();
+        example2.removeAllListeners('message');
+        example2.subscribe(function(message) {
+            expect(message).to.be.eql({
+                data: 'hi'
+            });
+            done();
+        });
+        example.publish({
+            data: 'hi'
+        });
+    });
+
+    it('unadvertise doesn\'t affect other topics', function(done) {
+        example.unsubscribe();
+        example2.unadvertise();
+        example2.removeAllListeners('message');
+        example2.subscribe(function(message) {
+            expect(example2.isAdvertised).to.be.false;
+            expect(message).to.be.eql({
+                data: 'hi'
+            });
+            done();
+        });
+        example.publish({
+            data: 'hi'
+        });
+    });
+
+    it('unsubscribing from all Topics should stop the socket from receiving data (on that topic', function(done) {
+        example.unsubscribe();
+        example2.unsubscribe();
+        ros.on('/example_topic', function() {
+            expect(false).to.be.ok;
+        });
+        example.publish({
+            data: 'sup'
+        });
+        setTimeout(done, 500);
+    });
+
+    this.afterAll(function() {
+        example.unadvertise();
+        example.unsubscribe();
+        example2.unadvertise();
+        example2.unsubscribe();
+    });
+});