@SuppressWarnings("unchecked")
private <T> void addTopicListener(
String topic, Object inner, ByteArrayConverter<T> converter, TypedListener<T> listener)
throws ConnectorException {
synchronized (messageDispatcher) {
MessageDispatcher<T> dispatcher = messageDispatcher.get(topic);
if (dispatcher == null) {
ConnectorSession session = connection.createSession();
ConnectorConsumer consumer = session.createConsumer(session.createTopic(topic));
messageDispatcher.put(topic, dispatcher = new MessageDispatcher<T>(consumer, converter));
}
dispatcher.addListener(inner, listener);
}
}
@Test(timeout = 300000)
public void testMessageOrder() throws InterruptedException {
int numberOfMessages = 100;
final CountDownLatch latch = new CountDownLatch(numberOfMessages);
MessageDispatcher<std_msgs.Int32> messageDispatcher =
new MessageDispatcher<std_msgs.Int32>(lazyMessages, executorService);
messageDispatcher.addListener(
new MessageListener<std_msgs.Int32>() {
private AtomicInteger count = new AtomicInteger();
public void onNewMessage(Int32 message) {
if (this.count.compareAndSet(message.getData(), message.getData() + 1)) {
latch.countDown();
} else {
fail(
String.format(
"Expected message data not equal to actual data: %d != %d",
count.get(), message.getData()));
}
try {
// Sleeping allows the queue to fill up a bit by slowing down the
// consumer.
Thread.sleep(5);
} catch (InterruptedException e) {
}
}
},
QUEUE_CAPACITY);
executorService.execute(messageDispatcher);
for (int i = 0; i < numberOfMessages; i++) {
final int count = i;
std_msgs.Int32 message = messageFactory.newFromType(std_msgs.Int32._TYPE);
message.setData(count);
lazyMessages.addLast(new LazyMessage<std_msgs.Int32>(message));
}
assertTrue(latch.await(1, TimeUnit.SECONDS));
}