test_listener_connection_header.py

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#!/usr/bin/env python
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# Revision $Id: test_peer_subscribe_notify.py 3803 2009-02-11 02:04:39Z rob_wheeler $

## Integration test for peer_subscribe_notify

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 TestListenerConnectionHeader(unittest.TestCase):
    def __init__(self, *args):
        super(TestListenerConnectionHeader, self).__init__(*args)
        self.success = False
        
    def callback(self, data):
        chatter = data.data
        if 'callerid' in data._connection_header:
            who = data._connection_header['callerid']
            self.success = True
        else:
            who = 'unknown'
        print("I just heard %s from %s" % (chatter, who))

    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, TestListenerConnectionHeader, sys.argv)