test_embed_msg.py
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00001 #!/usr/bin/env python
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00033 
00034 ## Integration test for empty services to test serializers
00035 ## and transport
00036 
00037 from __future__ import print_function
00038 
00039 PKG = 'test_rospy'
00040 NAME = 'test_embed_msg'
00041 
00042 import sys
00043 import time
00044 import unittest
00045 
00046 import rospy
00047 import rostest
00048 from std_msgs.msg import String, Int32
00049 from test_rospy.msg import EmbedTest, Val, ArrayVal
00050 
00051 PUBTOPIC = "chatter"
00052 LPNODE = 'listenerpublisher'
00053 LPTOPIC = 'listenerpublisher'
00054 
00055 MSG = EmbedTest
00056 
00057 TIMEOUT = 10.0 #seconds
00058 
00059 class TestEmbedMsg(unittest.TestCase):
00060 
00061     def setUp(self):
00062         self.callback_data = None
00063         
00064     def _test_embed_msg_callback(self, data):
00065         self.callback_data = data
00066     
00067     def test_embed_msg(self):
00068         self.assert_(self.callback_data is None, "invalid test fixture")
00069 
00070         # wait at most 5 seconds for listenerpublisher to be registered
00071         timeout_t = time.time() + 5.0
00072         while not rostest.is_subscriber(
00073             rospy.resolve_name(PUBTOPIC),
00074             rospy.resolve_name(LPNODE)) and time.time() < timeout_t:
00075             time.sleep(0.1)
00076 
00077         self.assert_(rostest.is_subscriber(
00078             rospy.resolve_name(PUBTOPIC),
00079             rospy.resolve_name(LPNODE)), "%s is not up"%LPNODE)
00080         
00081         print("Publishing to ", PUBTOPIC)
00082         pub = rospy.Publisher(PUBTOPIC, MSG)
00083         rospy.Subscriber(LPTOPIC, MSG, self._test_embed_msg_callback) 
00084 
00085         # publish about 10 messages for fun
00086         import random
00087         val = random.randint(0, 109812312)
00088         msg = "hi [%s]"%val
00089         for i in range(0, 10):
00090             # The test message could be better in terms of the values
00091             # it assigns to leaf fields, but the main focus is trying
00092             # to dig up edge conditions in the embeds, especially with
00093             # respect to arrays and embeds.
00094             pub.publish(
00095                 MSG(String(msg), Int32(val),
00096                     [Int32(val+1), Int32(val+2), Int32(val+3)],
00097                     Val(msg+msg),
00098                     [Val(msg), Val("two")],
00099                     [ArrayVal([Val("av1"), Val("av2")]), #[Val("%s"%i) for i in range(0, 10)]),
00100                      ArrayVal([]) #,[Val("%s"%i) for i in range(0, 10)]),
00101                      ]
00102                     ))
00103             time.sleep(0.1)
00104 
00105         # listenerpublisher is supposed to repeat our messages back onto /listenerpublisher,
00106         # make sure we got it
00107         self.assert_(self.callback_data is not None, "no callback data from listenerpublisher")
00108         print("Got ", self.callback_data.str1.data, self.callback_data.int1.data)
00109         errorstr = "callback msg field [%s] from listenerpublisher does not match"
00110         self.assertEquals(msg, self.callback_data.str1.data,
00111                           errorstr%"str1.data")
00112         self.assertEquals(val, self.callback_data.int1.data,
00113                           errorstr%"int1.data")
00114         for i in range(1, 4):
00115             self.assertEquals(val+i, self.callback_data.ints[i-1].data,
00116                               errorstr%"ints[i-1].data")
00117         self.assertEquals(msg+msg, self.callback_data.val.val,
00118                           errorstr%"val.val")
00119         self.assertEquals(msg, self.callback_data.vals[0].val,
00120                           errorstr%"vals[0].val")
00121         self.assertEquals("two", self.callback_data.vals[1].val,
00122                           errorstr%"vals[1].val")
00123         # #435: test array of arrays
00124         self.assertEquals(2, len(self.callback_data.arrayval),
00125                           errorstr%"len arrayval")
00126         self.assertEquals(2, len(self.callback_data.arrayval[0].vals),
00127                           errorstr%"len arrayval[0].vals")
00128         self.assertEquals("av1", self.callback_data.arrayval[0].vals[0].val,
00129                           errorstr%"arrayval[0].vals[0].val")
00130         self.assertEquals("av2", self.callback_data.arrayval[0].vals[1].val,
00131                           errorstr%"arrayval[0].vals[1].val")
00132         self.assertEquals(0, len(self.callback_data.arrayval[1].vals),
00133                           errorstr%"len arrayval[1].vals")
00134 
00135         
00136 if __name__ == '__main__':
00137     rospy.init_node(NAME)
00138     rostest.run(PKG, NAME, TestEmbedMsg, sys.argv)


test_rospy
Author(s): Ken Conley
autogenerated on Tue Mar 7 2017 03:45:43