test_peer_subscribe_notify.py
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00001 #!/usr/bin/env python
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00035 
00036 ## Integration test for peer_subscribe_notify
00037 
00038 from __future__ import print_function
00039 
00040 PKG = 'rospy_tutorials'
00041 NAME = 'peer_subscribe_notify_test'
00042 
00043 import sys 
00044 import time
00045 import unittest
00046 
00047 import rospy
00048 import rostest
00049 import roslib.scriptutil as scriptutil
00050 from std_msgs.msg import String
00051 
00052 
00053 class TestPeerSubscribeListener(unittest.TestCase):
00054     def __init__(self, *args):
00055         super(TestPeerSubscribeListener, self).__init__(*args)
00056         self.success = False
00057         
00058     def callback(self, data):
00059         print(rospy.get_caller_id(), "I heard %s" % data.data)
00060         #greetings is only sent over peer_publish callback, so hearing it is a success condition
00061         if data.data.startswith('greetings'):
00062             self.success = True
00063 
00064     def test_notify(self):
00065         rospy.Subscriber("chatter", String, self.callback)
00066         rospy.init_node(NAME, anonymous=True)
00067         timeout_t = time.time() + 10.0*1000 #10 seconds
00068         while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
00069             time.sleep(0.1)
00070         self.assert_(self.success, str(self.success))
00071         
00072 if __name__ == '__main__':
00073     rostest.rosrun(PKG, NAME, TestPeerSubscribeListener, sys.argv)


rospy_tutorials
Author(s): Ken Conley
autogenerated on Thu Jun 6 2019 20:20:11