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 Willow Garage, Inc. 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 ## Integration test for peer_subscribe_notify 00035 00036 PKG = 'test_rospy' 00037 NAME = 'on_shutdown_test' 00038 00039 import sys 00040 import time 00041 import unittest 00042 00043 import rospy 00044 import rostest 00045 from std_msgs.msg import String 00046 00047 00048 class TestOnShutdown(unittest.TestCase): 00049 def __init__(self, *args): 00050 super(TestOnShutdown, self).__init__(*args) 00051 self.success = False 00052 00053 def callback(self, data): 00054 print rospy.get_caller_id(), "I heard %s"%data.data 00055 #greetings is only sent over peer_publish callback, so hearing it is a success condition 00056 if "I'm dead" in data.data: 00057 self.success = True 00058 00059 def test_notify(self): 00060 rospy.Subscriber("chatter", String, self.callback) 00061 rospy.init_node(NAME, anonymous=True) 00062 timeout_t = time.time() + 10.0*1000 #10 seconds 00063 while not rospy.is_shutdown() and not self.success and time.time() < timeout_t: 00064 time.sleep(0.1) 00065 self.assert_(self.success, str(self.success)) 00066 00067 if __name__ == '__main__': 00068 rostest.rosrun(PKG, NAME, TestOnShutdown, sys.argv)