test_peer_subscribe_notify.py
Go to the documentation of this file.
1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
3 #
4 # Copyright (c) 2008, Willow Garage, Inc.
5 # All rights reserved.
6 #
7 # Redistribution and use in source and binary forms, with or without
8 # modification, are permitted provided that the following conditions
9 # are met:
10 #
11 # * Redistributions of source code must retain the above copyright
12 # notice, this list of conditions and the following disclaimer.
13 # * Redistributions in binary form must reproduce the above
14 # copyright notice, this list of conditions and the following
15 # disclaimer in the documentation and/or other materials provided
16 # with the distribution.
17 # * Neither the name of Willow Garage, Inc. nor the names of its
18 # contributors may be used to endorse or promote products derived
19 # from this software without specific prior written permission.
20 #
21 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 # POSSIBILITY OF SUCH DAMAGE.
33 #
34 # Revision $Id$
35 
36 ## Integration test for peer_subscribe_notify
37 
38 from __future__ import print_function
39 
40 PKG = 'rospy_tutorials'
41 NAME = 'peer_subscribe_notify_test'
42 
43 import sys
44 import time
45 import unittest
46 
47 import rospy
48 import rostest
49 import roslib.scriptutil as scriptutil
50 from std_msgs.msg import String
51 
52 
53 class TestPeerSubscribeListener(unittest.TestCase):
54  def __init__(self, *args):
55  super(TestPeerSubscribeListener, self).__init__(*args)
56  self.success = False
57 
58  def callback(self, data):
59  print(rospy.get_caller_id(), "I heard %s" % data.data)
60  #greetings is only sent over peer_publish callback, so hearing it is a success condition
61  if data.data.startswith('greetings'):
62  self.success = True
63 
64  def test_notify(self):
65  rospy.Subscriber("chatter", String, self.callback)
66  rospy.init_node(NAME, anonymous=True)
67  timeout_t = time.time() + 10.0*1000 #10 seconds
68  while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
69  time.sleep(0.1)
70  self.assert_(self.success, str(self.success))
71 
72 if __name__ == '__main__':
73  rostest.rosrun(PKG, NAME, TestPeerSubscribeListener, sys.argv)


rospy_tutorials
Author(s): Ken Conley
autogenerated on Fri Jun 7 2019 22:01:45