consumer.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 00035 PKG = 'static_map_server' 00036 NAME = 'consumer' 00037 00038 import roslib 00039 roslib.load_manifest(PKG) 00040 00041 import sys, unittest, time 00042 00043 import rospy, rostest 00044 from nav_msgs.srv import GetMap 00045 00046 class TestConsumer(unittest.TestCase): 00047 def __init__(self, *args): 00048 super(TestConsumer, self).__init__(*args) 00049 self.success = False 00050 00051 def callback(self, data): 00052 print rospy.get_caller_id(), "I heard %s"%data.data 00053 self.success = data.data and data.data.startswith('hello world') 00054 rospy.signal_shutdown('test done') 00055 00056 def test_consumer(self): 00057 rospy.wait_for_service('static_map') 00058 mapsrv = rospy.ServiceProxy('static_map', GetMap) 00059 resp = mapsrv() 00060 self.success = True 00061 print resp 00062 while not rospy.is_shutdown() and not self.success and time.time() < timeout_t: 00063 time.sleep(0.1) 00064 self.assert_(self.success) 00065 rospy.signal_shutdown('test done') 00066 00067 if __name__ == '__main__': 00068 rostest.rosrun(PKG, NAME, TestConsumer, sys.argv)