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 empty services to test serializers 00035 ## and transport 00036 00037 PKG = 'test_rospy' 00038 NAME = 'test_pubsub_order' 00039 00040 import sys 00041 import time 00042 import unittest 00043 00044 import rospy 00045 import rostest 00046 from std_msgs.msg import String 00047 00048 PUBTOPIC = "chatter" 00049 LPNODE = 'listenerpublisher' 00050 LPTOPIC = 'listenerpublisher' 00051 MSG = String 00052 00053 TIMEOUT = 10.0 #seconds 00054 00055 class TestPubSubOrder(unittest.TestCase): 00056 00057 def setUp(self): 00058 self.callback_data = None 00059 00060 def _test_subscriber_first_callback(self, data): 00061 self.callback_data = data 00062 00063 ## Test subscriber first makes sure that if a subscriber is up first 00064 ## that it is able to successfully receive messages from a new publisher 00065 def test_subscriber_first(self): 00066 self.assert_(self.callback_data is None, "invalid test fixture") 00067 00068 # wait at most 5 seconds for listenerpublisher to be registered 00069 timeout_t = time.time() + 5.0 00070 while not rostest.is_subscriber( 00071 rospy.resolve_name(PUBTOPIC), 00072 rospy.resolve_name(LPNODE)) and time.time() < timeout_t: 00073 time.sleep(0.1) 00074 00075 self.assert_(rostest.is_subscriber( 00076 rospy.resolve_name(PUBTOPIC), 00077 rospy.resolve_name(LPNODE)), "%s is not up"%LPNODE) 00078 00079 print "Publishing to ", PUBTOPIC 00080 pub = rospy.Publisher(PUBTOPIC, MSG) 00081 rospy.Subscriber(LPTOPIC, MSG, self._test_subscriber_first_callback) 00082 00083 # publish about 10 messages for fun 00084 import random 00085 val = random.randint(0, 109812312) 00086 msg = "hi [%s]"%val 00087 for i in xrange(0, 10): 00088 pub.publish(MSG(msg)) 00089 time.sleep(0.1) 00090 00091 # listenerpublisher is supposed to repeat our messages back onto /listenerpublisher, 00092 # make sure we got it 00093 self.assert_(self.callback_data is not None, "no callback data from listenerpublisher") 00094 self.assertEquals(msg, self.callback_data.data, "callback data from listenerpublisher does not match") 00095 00096 if __name__ == '__main__': 00097 rospy.init_node(NAME) 00098 rostest.run(PKG, NAME, TestPubSubOrder, sys.argv)