test_latch.py
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1 #!/usr/bin/env python
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33 
34 PKG = 'test_rospy'
35 NAME = 'test_latch'
36 
37 import sys
38 import time
39 import unittest
40 
41 from std_msgs.msg import String
42 
43 class TestLatch(unittest.TestCase):
44 
45  def setUp(self):
46  self.callback_invoked = {}
47  for i in range(0, 6):
48  self.callback_invoked[i] = False
49 
50  def callback_args(self, msg, i):
51  self.assertEquals('foo', msg.data)
52  self.callback_invoked[i] = True
53 
54  def callback(self, msg):
55  self.assertEquals('foo', msg.data)
56  self.callback_invoked[0] = True
57 
58  def test_latch(self):
59  import rospy
60 
61  # multi-part test. First check that we get latched message, then check
62  # that subscribers to same topic also receive latched message
63  # #1852
64  rospy.init_node(NAME)
65  s0 = rospy.Subscriber('s', String, self.callback)
66  # 20 seconds to receive first latched message
67  timeout_t = time.time() + 20.
68  print("waiting for 20 seconds")
69  while not self.callback_invoked[0] and \
70  not rospy.is_shutdown() and \
71  timeout_t > time.time():
72  time.sleep(0.2)
73 
74  self.failIf(timeout_t < time.time(), "timeout exceeded")
75  self.failIf(rospy.is_shutdown(), "node shutdown")
76  self.assert_(self.callback_invoked[0], "callback not invoked")
77 
78  # register three more callbacks, make sure they get invoked with message
79  # - callbacks are actually called inline, but in spirit of test, async callback is allowed
80  for i in range(1, 5):
81  self.failIf(self.callback_invoked[i])
82  s = rospy.Subscriber('s', String, self.callback_args, i)
83  timeout_t = time.time() + 0.5
84  while not self.callback_invoked[i] and \
85  not rospy.is_shutdown() and \
86  timeout_t > time.time():
87  time.sleep(0.1)
88  self.assert_(self.callback_invoked[i])
89 
90 if __name__ == '__main__':
91  import rostest
92  rostest.run(PKG, NAME, TestLatch, sys.argv)
def callback(self, msg)
Definition: test_latch.py:54
def test_latch(self)
Definition: test_latch.py:58
def callback_args(self, msg, i)
Definition: test_latch.py:50


test_rospy
Author(s): Ken Conley, Dirk Thomas
autogenerated on Mon Nov 2 2020 03:52:56