test_latch.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2008, Willow Garage, Inc.
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00033 
00034 PKG = 'test_rospy'
00035 NAME = 'test_latch'
00036 
00037 import sys
00038 import time
00039 import unittest
00040 
00041 from std_msgs.msg import String
00042 
00043 class TestLatch(unittest.TestCase):
00044         
00045     def setUp(self):
00046         self.callback_invoked = {}
00047         for i in range(0, 6):
00048             self.callback_invoked[i] = False
00049         
00050     def callback_args(self, msg, i):
00051         self.assertEquals('foo', msg.data)
00052         self.callback_invoked[i] = True
00053         
00054     def callback(self, msg):
00055         self.assertEquals('foo', msg.data)
00056         self.callback_invoked[0] = True
00057 
00058     def test_latch(self):
00059         import rospy
00060         
00061         # multi-part test. First check that we get latched message, then check
00062         # that subscribers to same topic also receive latched message
00063         # #1852
00064         rospy.init_node(NAME)
00065         s0 = rospy.Subscriber('s', String, self.callback)
00066         # 20 seconds to receive first latched message
00067         timeout_t = time.time() + 20.
00068         print "waiting for 20 seconds"
00069         while not self.callback_invoked[0] and \
00070                 not rospy.is_shutdown() and \
00071                 timeout_t > time.time():
00072             time.sleep(0.2)
00073 
00074         self.failIf(timeout_t < time.time(), "timeout exceeded")
00075         self.failIf(rospy.is_shutdown(), "node shutdown")            
00076         self.assert_(self.callback_invoked[0], "callback not invoked")
00077         
00078         # register three more callbacks, make sure they get invoked with message
00079         # - callbacks are actually called inline, but in spirit of test, async callback is allowed
00080         for i in range(1, 5):
00081             self.failIf(self.callback_invoked[i])
00082             s = rospy.Subscriber('s', String, self.callback_args, i)
00083             timeout_t = time.time() + 0.5
00084             while not self.callback_invoked[i] and \
00085                     not rospy.is_shutdown() and \
00086                     timeout_t > time.time():
00087                 time.sleep(0.1)
00088             self.assert_(self.callback_invoked[i])
00089         
00090 if __name__ == '__main__':
00091     import rostest
00092     rostest.run(PKG, NAME, TestLatch, sys.argv)


test_rospy
Author(s): Ken Conley
autogenerated on Mon Oct 6 2014 11:47:19