test_callbacks_py.py
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00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 #
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 #
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 #
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Stuart Glaser
00030 
00031 import sys
00032 import threading
00033 import time
00034 import uuid
00035 
00036 PKG = 'test_bond'
00037 import roslib; roslib.load_manifest(PKG)
00038 import rospy
00039 import bondpy
00040 from test_bond.srv import *
00041 
00042 import unittest
00043 import rostest
00044 
00045 import atexit
00046 atexit.register(rospy.signal_shutdown, 'exit')
00047 
00048 TOPIC = "test_bond_topic"
00049 def gen_id():
00050     return "test_" + str(uuid.uuid4())
00051 
00052 class CallbackTests(unittest.TestCase):
00053 
00054     def test_die_in_life_callback(self):
00055         id = gen_id()
00056         a = bondpy.Bond(TOPIC, id)
00057         b = bondpy.Bond(TOPIC, id)
00058 
00059         a.set_formed_callback(a.break_bond)
00060 
00061         a.start()
00062         b.start()
00063 
00064         self.assertTrue(a.wait_until_formed(rospy.Duration(5.0)))
00065         self.assertTrue(b.wait_until_broken(rospy.Duration(3.0)))
00066         del a, b
00067 
00068 def main():
00069     rospy.init_node('test_callbacks_python', anonymous=True, disable_signals=True)
00070     rostest.run(PKG, 'test_callbacks_python', CallbackTests, sys.argv)
00071 
00072 if __name__ == '__main__': main()
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test_bond
Author(s): Stuart Glaser
autogenerated on Thu Aug 15 2013 10:10:43