test_embed_msg.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00033 
00034 ## Integration test for empty services to test serializers
00035 ## and transport
00036 
00037 PKG = 'test_rospy'
00038 NAME = 'test_embed_msg'
00039 
00040 import sys
00041 import time
00042 import unittest
00043 
00044 import rospy
00045 import rostest
00046 from std_msgs.msg import String, Int32
00047 from test_rospy.msg import EmbedTest, Val, ArrayVal
00048 
00049 PUBTOPIC = "chatter"
00050 LPNODE = 'listenerpublisher'
00051 LPTOPIC = 'listenerpublisher'
00052 
00053 MSG = EmbedTest
00054 
00055 TIMEOUT = 10.0 #seconds
00056 
00057 class TestEmbedMsg(unittest.TestCase):
00058 
00059     def setUp(self):
00060         self.callback_data = None
00061         
00062     def _test_embed_msg_callback(self, data):
00063         self.callback_data = data
00064     
00065     def test_embed_msg(self):
00066         self.assert_(self.callback_data is None, "invalid test fixture")
00067 
00068         # wait at most 5 seconds for listenerpublisher to be registered
00069         timeout_t = time.time() + 5.0
00070         while not rostest.is_subscriber(
00071             rospy.resolve_name(PUBTOPIC),
00072             rospy.resolve_name(LPNODE)) and time.time() < timeout_t:
00073             time.sleep(0.1)
00074 
00075         self.assert_(rostest.is_subscriber(
00076             rospy.resolve_name(PUBTOPIC),
00077             rospy.resolve_name(LPNODE)), "%s is not up"%LPNODE)
00078         
00079         print "Publishing to ", PUBTOPIC
00080         pub = rospy.Publisher(PUBTOPIC, MSG)
00081         rospy.Subscriber(LPTOPIC, MSG, self._test_embed_msg_callback) 
00082 
00083         # publish about 10 messages for fun
00084         import random
00085         val = random.randint(0, 109812312)
00086         msg = "hi [%s]"%val
00087         for i in xrange(0, 10):
00088             # The test message could be better in terms of the values
00089             # it assigns to leaf fields, but the main focus is trying
00090             # to dig up edge conditions in the embeds, especially with
00091             # respect to arrays and embeds.
00092             pub.publish(
00093                 MSG(String(msg), Int32(val),
00094                     [Int32(val+1), Int32(val+2), Int32(val+3)],
00095                     Val(msg+msg),
00096                     [Val(msg), Val("two")],
00097                     [ArrayVal([Val("av1"), Val("av2")]), #[Val("%s"%i) for i in xrange(0, 10)]),
00098                      ArrayVal([]) #,[Val("%s"%i) for i in xrange(0, 10)]),
00099                      ]
00100                     ))
00101             time.sleep(0.1)
00102 
00103         # listenerpublisher is supposed to repeat our messages back onto /listenerpublisher,
00104         # make sure we got it
00105         self.assert_(self.callback_data is not None, "no callback data from listenerpublisher")
00106         print "Got ", self.callback_data.str1.data, self.callback_data.int1.data
00107         errorstr = "callback msg field [%s] from listenerpublisher does not match"
00108         self.assertEquals(msg, self.callback_data.str1.data,
00109                           errorstr%"str1.data")
00110         self.assertEquals(val, self.callback_data.int1.data,
00111                           errorstr%"int1.data")
00112         for i in xrange(1, 4):
00113             self.assertEquals(val+i, self.callback_data.ints[i-1].data,
00114                               errorstr%"ints[i-1].data")
00115         self.assertEquals(msg+msg, self.callback_data.val.val,
00116                           errorstr%"val.val")
00117         self.assertEquals(msg, self.callback_data.vals[0].val,
00118                           errorstr%"vals[0].val")
00119         self.assertEquals("two", self.callback_data.vals[1].val,
00120                           errorstr%"vals[1].val")
00121         # #435: test array of arrays
00122         self.assertEquals(2, len(self.callback_data.arrayval),
00123                           errorstr%"len arrayval")
00124         self.assertEquals(2, len(self.callback_data.arrayval[0].vals),
00125                           errorstr%"len arrayval[0].vals")
00126         self.assertEquals("av1", self.callback_data.arrayval[0].vals[0].val,
00127                           errorstr%"arrayval[0].vals[0].val")
00128         self.assertEquals("av2", self.callback_data.arrayval[0].vals[1].val,
00129                           errorstr%"arrayval[0].vals[1].val")
00130         self.assertEquals(0, len(self.callback_data.arrayval[1].vals),
00131                           errorstr%"len arrayval[1].vals")
00132 
00133         
00134 if __name__ == '__main__':
00135     rospy.init_node(NAME)
00136     rostest.run(PKG, NAME, TestEmbedMsg, sys.argv)


test_rospy
Author(s): Ken Conley/kwc@willowgarage.com
autogenerated on Sat Dec 28 2013 17:36:20