test_on_shutdown.py
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1 #!/usr/bin/env python
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34 # Revision $Id: test_peer_subscribe_notify.py 3803 2009-02-11 02:04:39Z rob_wheeler $
35 
36 ## Integration test for peer_subscribe_notify
37 from __future__ import print_function
38 
39 PKG = 'rospy_tutorials'
40 NAME = 'peer_subscribe_notify_test'
41 
42 import sys
43 import time
44 import unittest
45 
46 import rospy
47 import rostest
48 import roslib.scriptutil as scriptutil
49 from std_msgs.msg import String
50 
51 
52 class TestOnShutdown(unittest.TestCase):
53  def __init__(self, *args):
54  super(TestOnShutdown, self).__init__(*args)
55  self.success = False
56 
57  def callback(self, data):
58  print(rospy.get_caller_id(), "I heard %s" % data.data)
59  #greetings is only sent over peer_publish callback, so hearing it is a success condition
60  if "I'm dead" in data.data:
61  self.success = True
62 
63  def test_notify(self):
64  rospy.Subscriber("chatter", String, self.callback)
65  rospy.init_node(NAME, anonymous=True)
66  timeout_t = time.time() + 10.0*1000 #10 seconds
67  while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
68  time.sleep(0.1)
69  self.assert_(self.success, str(self.success))
70 
71 if __name__ == '__main__':
72  rostest.rosrun(PKG, NAME, TestOnShutdown, sys.argv)


rospy_tutorials
Author(s): Ken Conley, Dirk Thomas
autogenerated on Sun Oct 18 2020 13:09:44