test_sub_to_multiple_pubs.py

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#!/usr/bin/env python
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## Integration test for subscribing to a topic with multiple publishers

from __future__ import print_function

PKG = 'test_rospy'
NAME = 'test_sub_to_multiple_pubs'

import socket
import sys
import time
import unittest
import xmlrpclib

import rosgraph
import rospy
import rostest

TOPIC = '/chatter'
TALKER_NODE = 'talker%d'
NUMBER_OF_TALKERS = 99
LISTENER_NODE = 'listener'


class TestPubSubToMultiplePubs(unittest.TestCase):

    def test_subscribe_to_multiple_publishers(self):
        # wait so that all connections are established
        time.sleep(1.0)

        # ensure that publishers are publishing
        for i in range(1, NUMBER_OF_TALKERS + 1):
            self.assert_(rostest.is_publisher(
                rospy.resolve_name(TOPIC),
                rospy.resolve_name(TALKER_NODE % i)), 'talker node %d is not up' % i)

        # ensure that subscriber is subscribed
        self.assert_(rostest.is_subscriber(
            rospy.resolve_name(TOPIC),
            rospy.resolve_name(LISTENER_NODE)), 'listener node is not up')

        # check number of connections from subscriber to the topic
        connections = 0

        master = rosgraph.Master(NAME)
        node_api = master.lookupNode(LISTENER_NODE)
        if not node_api:
            self.assert_(False, 'cannot contact [%s]: unknown node' % LISTENER_NODE)

        socket.setdefaulttimeout(5.0)
        node = xmlrpclib.ServerProxy(node_api)
        code, _, businfo = node.getBusInfo(NAME)
        if code != 1:
            self.assert_(False, 'cannot get node information')
        if businfo:
            for info in businfo:
                topic = info[4]
                if len(info) > 5:
                    connected = info[5]
                else:
                    connected = True  # backwards compatibility

                if connected:
                    if topic == TOPIC:
                        connections += 1

        self.assert_(connections == NUMBER_OF_TALKERS, 'Found only %d connections instead of %d' % (connections, NUMBER_OF_TALKERS))

if __name__ == '__main__':
    rospy.init_node(NAME)
    rostest.run(PKG, NAME, TestPubSubToMultiplePubs, sys.argv)