test_pubsub_order.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 ## Integration test for empty services to test serializers
00035 ## and transport
00036 
00037 PKG = 'test_rospy'
00038 NAME = 'test_pubsub_order'
00039 
00040 import sys 
00041 import time
00042 import unittest
00043 
00044 import rospy
00045 import rostest
00046 from std_msgs.msg import String
00047 
00048 PUBTOPIC = "chatter"
00049 LPNODE = 'listenerpublisher'
00050 LPTOPIC = 'listenerpublisher'
00051 MSG = String
00052 
00053 TIMEOUT = 10.0 #seconds
00054 
00055 class TestPubSubOrder(unittest.TestCase):
00056 
00057     def setUp(self):
00058         self.callback_data = None
00059         
00060     def _test_subscriber_first_callback(self, data):
00061         self.callback_data = data
00062     
00063     ## Test subscriber first makes sure that if a subscriber is up first
00064     ## that it is able to successfully receive messages from a new publisher
00065     def test_subscriber_first(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_subscriber_first_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             pub.publish(MSG(msg))
00089             time.sleep(0.1)
00090 
00091         # listenerpublisher is supposed to repeat our messages back onto /listenerpublisher,
00092         # make sure we got it
00093         self.assert_(self.callback_data is not None, "no callback data from listenerpublisher")
00094         self.assertEquals(msg, self.callback_data.data, "callback data from listenerpublisher does not match")
00095         
00096 if __name__ == '__main__':
00097     rospy.init_node(NAME)
00098     rostest.run(PKG, NAME, TestPubSubOrder, sys.argv)


test_rospy
Author(s): Ken Conley
autogenerated on Mon Oct 6 2014 11:47:19