test_latch_unsubscribe.py

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#!/usr/bin/env python
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PKG = 'test_rospy'
NAME = 'test_latch_unsubscribe'

import os
import sys
import unittest

import psutil

from std_msgs.msg import String


def _get_connections(process_info):
    if hasattr(process_info, 'connections'):  # new naming
        return process_info.connections()
    elif hasattr(process_info, 'get_connections'):  # old naming
        return process_info.get_connections()
    raise AttributeError('Wrong psutil version?')


def _get_connection_statii(process_info):
    return (conn.status for conn in _get_connections(process_info))


class TestLatch(unittest.TestCase):

    def setUp(self):
        pass

    def test_latch(self):
        import rospy
        proc_info = psutil.Process(os.getpid())
        self.assertNotIn('CLOSE_WAIT', _get_connection_statii(proc_info),
                         'CLOSE_WAIT sockets already before the test. This '
                         'should not happen at all.')

        rospy.init_node(NAME)
        pub = rospy.Publisher('chatter', String, latch=True)
        pub.publish(String("hello"))
        rospy.sleep(0.5)
        self.assertNotIn('CLOSE_WAIT', _get_connection_statii(proc_info),
                         'CLOSE_WAIT sockets after the subscriber exited. '
                         '(#107)')
        rospy.sleep(1.5)
        # also check for a second subscriber
        self.assertNotIn('CLOSE_WAIT', _get_connection_statii(proc_info),
                         'CLOSE_WAIT sockets after the second subscriber '
                         'exited. (#107)')


if __name__ == '__main__':
    import rostest
    rostest.run(PKG, NAME, TestLatch, sys.argv)