def test_unpublish(self):
node_proxy = xmlrpclib.ServerProxy(rospy.get_node_uri())
_, _, pubs = node_proxy.getPublications('/foo')
pubs = [p for p in pubs if p[0] != '/rosout']
self.assert_(not pubs, pubs)
print "Publishing ", PUBTOPIC
pub = rospy.Publisher(PUBTOPIC, String)
topic = rospy.resolve_name(PUBTOPIC)
_, _, pubs = node_proxy.getPublications('/foo')
pubs = [p for p in pubs if p[0] != '/rosout']
self.assertEquals([[topic, String._type]], pubs, "Pubs were %s" % pubs)
# publish about 10 messages for fun
for i in xrange(0, 10):
pub.publish(String("hi [%s]" % i))
time.sleep(0.1)
# begin actual test by unsubscribing
pub.unregister()
# make sure no new messages are received in the next 2 seconds
timeout_t = time.time() + 2.0
while timeout_t < time.time():
time.sleep(1.0)
self.assert_(_last_callback is None)
# verify that close cleaned up master and node state
_, _, pubs = node_proxy.getPublications('/foo')
pubs = [p for p in pubs if p[0] != '/rosout']
self.assert_(not pubs, "Node still has pubs: %s" % pubs)
n = rospy.get_caller_id()
self.assert_(not rostest.is_publisher(topic, n),
"publication is still active on master")
def test_unpublish(self):
node_proxy = ServerProxy(rospy.get_node_uri())
_, _, pubs = node_proxy.getPublications('/foo')
pubs = [p for p in pubs if p[0] != '/rosout']
self.assert_(not pubs, pubs)
print("Publishing ", PUBTOPIC)
pub = rospy.Publisher(PUBTOPIC, String)
topic = rospy.resolve_name(PUBTOPIC)
_, _, pubs = node_proxy.getPublications('/foo')
pubs = [p for p in pubs if p[0] != '/rosout']
self.assertEquals([[topic, String._type]], pubs, "Pubs were %s"%pubs)
# publish about 10 messages for fun
for i in range(0, 10):
pub.publish(String("hi [%s]"%i))
time.sleep(0.1)
# begin actual test by unsubscribing
pub.unregister()
# make sure no new messages are received in the next 2 seconds
timeout_t = time.time() + 2.0
while timeout_t < time.time():
time.sleep(1.0)
self.assert_(_last_callback is None)
# verify that close cleaned up master and node state
_, _, pubs = node_proxy.getPublications('/foo')
pubs = [p for p in pubs if p[0] != '/rosout']
self.assert_(not pubs, "Node still has pubs: %s"%pubs)
n = rospy.get_caller_id()
self.assert_(not rostest.is_publisher(topic, n), "publication is still active on master")
def test_is_display_publisher_connected(self):
assert rostest.is_publisher(rospy.resolve_name(_DISPLAY_TOPIC),
rospy.resolve_name(_GUI_NODE))
test_display_subscriber = rospy.Subscriber(
_DISPLAY_TOPIC, Display, callback=self.display_subscriber_callback)
def test_is_face_publisher_connected(self):
assert rostest.is_publisher(rospy.resolve_name(_PLAY_FACE_TOPIC),
rospy.resolve_name(_MANAGER_NODE))
test_face_subscriber = rospy.Subscriber(
_PLAY_FACE_TOPIC,
FaceRequest,
callback=self.face_subscriber_callback)
def test_is_wav_file_publisher_connected(self):
assert rostest.is_publisher(rospy.resolve_name(_PLAY_WAV_FILE_TOPIC),
rospy.resolve_name(_MANAGER_NODE))
test_wav_file_subscriber = rospy.Subscriber(
_PLAY_WAV_FILE_TOPIC,
String,
callback=self.wave_file_subscriber_callback)
def test_is_prompt_publisher_connected(self):
assert rostest.is_publisher(rospy.resolve_name(_USER_PROMPTED_TOPIC),
rospy.resolve_name(_GUI_NODE))
test_display_subscriber = rospy.Subscriber(
_USER_PROMPTED_TOPIC,
Empty,
callback=self.display_subscriber_callback)
def test_subscribe_to_multiple_publishers(self):
# wait so that all connections are established
time.sleep(1.0)
# ensure that publishers are publishing
for i in range(1, NUMBER_OF_TALKERS + 1):
self.assert_(rostest.is_publisher(
rospy.resolve_name(TOPIC),
rospy.resolve_name(TALKER_NODE % i)), 'talker node %d is not up' % i)
# ensure that subscriber is subscribed
self.assert_(rostest.is_subscriber(
rospy.resolve_name(TOPIC),
rospy.resolve_name(LISTENER_NODE)), 'listener node is not up')
# check number of connections from subscriber to the topic
connections = 0
master = rosgraph.Master(NAME)
node_api = master.lookupNode(LISTENER_NODE)
if not node_api:
self.assert_(False, 'cannot contact [%s]: unknown node' % LISTENER_NODE)
socket.setdefaulttimeout(5.0)
node = xmlrpclib.ServerProxy(node_api)
code, _, businfo = node.getBusInfo(NAME)
if code != 1:
self.assert_(False, 'cannot get node information')
if businfo:
for info in businfo:
topic = info[4]
if len(info) > 5:
connected = info[5]
else:
connected = True # backwards compatibility
if connected:
if topic == TOPIC:
connections += 1
self.assert_(connections == NUMBER_OF_TALKERS, 'Found only %d connections instead of %d' % (connections, NUMBER_OF_TALKERS))
def test_is_idle_publisher_connected(self):
assert rostest.is_publisher(rospy.resolve_name(_IS_FACE_IDLE_TOPIC),
rospy.resolve_name(_MANAGER_NODE))
test_is_idle_subscriber = rospy.Subscriber(
_PLAY_GESTURE_TOPIC, String, self.gesture_subscriber_callback)
def test_message_publisher(self):
assert rostest.is_publisher(
rospy.resolve_name(_MESSAGE_TOPIC),
rospy.resolve_name(_PUBLISHER_NODE)
)