test_peer_subscribe_notify.py

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#!/usr/bin/env python
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# Revision $Id$
 
 
 
from __future__ import print_function
 
PKG = 'rospy_tutorials'
NAME = 'peer_subscribe_notify_test'
 
import sys 
import time
import unittest
 
import rospy
import rostest
import roslib.scriptutil as scriptutil
from std_msgs.msg import String
 
 
class TestPeerSubscribeListener(unittest.TestCase):
    def __init__(self, *args):
        super(TestPeerSubscribeListener, self).__init__(*args)
        self.success = False
        
    def callback(self, data):
        print(rospy.get_caller_id(), "I heard %s" % data.data)
        #greetings is only sent over peer_publish callback, so hearing it is a success condition
        if data.data.startswith('greetings'):
            self.success = True
 
    def test_notify(self):
        rospy.Subscriber("chatter", String, self.callback)
        rospy.init_node(NAME, anonymous=True)
        timeout_t = time.time() + 10.0*1000 #10 seconds
        while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
            time.sleep(0.1)
        self.assert_(self.success, str(self.success))
        
if __name__ == '__main__':
    rostest.rosrun(PKG, NAME, TestPeerSubscribeListener, sys.argv)