test_peer_subscribe_notify.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Revision $Id: test_peer_subscribe_notify.py 3803 2009-02-11 02:04:39Z rob_wheeler $ 00035 00036 ## Integration test for peer_subscribe_notify 00037 00038 PKG = 'rospy_tutorials' 00039 NAME = 'peer_subscribe_notify_test' 00040 import roslib; roslib.load_manifest(PKG) 00041 00042 import sys 00043 import time 00044 import unittest 00045 00046 import rospy 00047 import rostest 00048 import roslib.scriptutil as scriptutil 00049 from std_msgs.msg import String 00050 00051 00052 class TestPeerSubscribeListener(unittest.TestCase): 00053 def __init__(self, *args): 00054 super(TestPeerSubscribeListener, self).__init__(*args) 00055 self.success = False 00056 00057 def callback(self, data): 00058 print rospy.get_caller_id(), "I heard %s"%data.data 00059 #greetings is only sent over peer_publish callback, so hearing it is a success condition 00060 if data.data.startswith('greetings'): 00061 self.success = True 00062 00063 def test_notify(self): 00064 rospy.Subscriber("chatter", String, self.callback) 00065 rospy.init_node(NAME, anonymous=True) 00066 timeout_t = time.time() + 10.0*1000 #10 seconds 00067 while not rospy.is_shutdown() and not self.success and time.time() < timeout_t: 00068 time.sleep(0.1) 00069 self.assert_(self.success, str(self.success)) 00070 00071 if __name__ == '__main__': 00072 rostest.rosrun(PKG, NAME, TestPeerSubscribeListener, sys.argv)