Go to the documentation of this file.00001
00002 import os
00003 import sys
00004
00005 import unittest
00006
00007 sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..",
00008 "scripts")))
00009 from topic_compare import ROSTopicCompare
00010
00011 import rospy
00012 import time
00013
00014 def eps_equal(a, b, err=0.001):
00015 return abs(a - b) < err
00016
00017
00018
00019
00020
00021 class TestTopicCompare(unittest.TestCase):
00022 def test_same_topic(self):
00023 current_time = time.time()
00024 self.assertTrue(eps_equal(tc.getTotalBytes(0) / (current_time - tc.getStartTime(0)),
00025 tc.getTotalBytes(1) / (current_time - tc.getStartTime(1)), 1))
00026 def test_half_topic(self):
00027 current_time = time.time()
00028 rospy.loginfo(tc.getTotalBytes(0) / (current_time - tc.getStartTime(0)))
00029 rospy.loginfo(tc.getTotalBytes(2) * 2 / (current_time - tc.getStartTime(2)))
00030
00031 self.assertTrue(eps_equal(tc.getTotalBytes(0) / (current_time - tc.getStartTime(0)),
00032 tc.getTotalBytes(2) * 2 / (current_time - tc.getStartTime(2)), 1))
00033
00034 if __name__ == "__main__":
00035 import rostest
00036 rospy.init_node("test_topic_compare")
00037 tc = ROSTopicCompare()
00038 tc.registerTopic("/origin")
00039 tc.registerTopic("/origin")
00040 tc.registerTopic("/half")
00041 rospy.loginfo("wait 30sec to acuumulate topics...")
00042 rospy.sleep(30)
00043 rostest.rosrun("jsk_topic_tools", "test_topic_compare", TestTopicCompare)
00044
00045