test_pubsub_order.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_pubsub_order'
00041 
00042 import sys 
00043 import time
00044 import unittest
00045 
00046 import rospy
00047 import rostest
00048 from std_msgs.msg import String
00049 
00050 PUBTOPIC = "chatter"
00051 LPNODE = 'listenerpublisher'
00052 LPTOPIC = 'listenerpublisher'
00053 MSG = String
00054 
00055 TIMEOUT = 10.0 #seconds
00056 
00057 class TestPubSubOrder(unittest.TestCase):
00058 
00059     def setUp(self):
00060         self.callback_data = None
00061         
00062     def _test_subscriber_first_callback(self, data):
00063         self.callback_data = data
00064     
00065     ## Test subscriber first makes sure that if a subscriber is up first
00066     ## that it is able to successfully receive messages from a new publisher
00067     def test_subscriber_first(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_subscriber_first_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             pub.publish(MSG(msg))
00091             time.sleep(0.1)
00092 
00093         # listenerpublisher is supposed to repeat our messages back onto /listenerpublisher,
00094         # make sure we got it
00095         self.assert_(self.callback_data is not None, "no callback data from listenerpublisher")
00096         self.assertEquals(msg, self.callback_data.data, "callback data from listenerpublisher does not match")
00097         
00098 if __name__ == '__main__':
00099     rospy.init_node(NAME)
00100     rostest.run(PKG, NAME, TestPubSubOrder, sys.argv)


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