def test_testheader_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for fixture to verify"
        while self.fixture_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(timeout_t < time.time(), "timeout exceeded")
        self.failIf(rospy.is_shutdown(), "node shutdown")            
        self.failIf(self.fixture_curr is None, "no data from fixture")
        self.assertEquals('/node0', self.fixture_curr.caller_id)
        self.assertEquals('', self.fixture_curr.orig_caller_id)

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to verify"
        while self.test_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(self.test_curr is None, "no data from test")
        self.assertEquals('/rosjava_node', self.test_curr.caller_id)
        self.assertEquals('/node0', self.test_curr.orig_caller_id)
        t = self.test_curr.header.stamp.to_sec()
        # be really generous here, just need to be in the ballpark.
        self.assert_(abs(time.time() - t) < 60.)
    def test_composite_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for fixture to verify")
        while self.fixture_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
        self.assertFalse(self.fixture_curr is None, "no data from fixture")
        m = self.fixture_curr
        self.assertAlmostEqual(m.a.x, m.b.x)
        self.assertAlmostEqual(m.a.y, m.b.y)
        self.assertAlmostEqual(m.a.z, m.b.z)

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for client to verify")
        while self.test_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertFalse(self.test_curr is None, "no data from test")
        m = self.test_curr
        self.assertAlmostEqual(m.a.x, m.b.x)
        self.assertAlmostEqual(m.a.y, m.b.y)
        self.assertAlmostEqual(m.a.z, m.b.z)

        # a.w = a.x + a.y + a.z.  Just make sure we're in the ballpark
        a = self.test_curr.a
        self.assertTrue(abs(a.x + a.y + a.z - a.w) < 10.)
    def test_int64_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for fixture to verify"
        while self.fixture_prev is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(timeout_t < time.time(), "timeout exceeded")
        self.failIf(rospy.is_shutdown(), "node shutdown")            
        self.failIf(self.fixture_prev is None, "no data from fixture")
        self.failIf(self.fixture_curr is None, "no data from fixture")
        self.assertEquals(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to verify"
        while self.test_prev is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(self.test_prev is None, "no data from test")
        self.assertEquals(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
Exemple #4
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    def test_string_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for fixture to verify"
        while not self.fixture_nodes_cb == self.nodes_set and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(timeout_t < time.time(), "timeout exceeded")
        self.failIf(rospy.is_shutdown(), "node shutdown")            
        self.assertEquals(self.nodes_set, self.fixture_nodes_cb, "fixture did not validate: %s vs %s"%(self.nodes_set, self.fixture_nodes_cb))

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to verify"
        while not self.test_nodes_cb == self.nodes_set and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertEquals(self.nodes_set, self.test_nodes_cb, "passthrough did not pass along all message")

        # Create a new Publisher here.  This will validate publisherUpdate()
        pub = rospy.Publisher('string_in', String)
        msg = 'test_publisherUpdate'
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to verify"
        while not msg in self.nodes_set and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            pub.publish(data=msg)
            time.sleep(0.2)
    def test_composite_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for fixture to verify"
        while self.fixture_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(timeout_t < time.time(), "timeout exceeded")
        self.failIf(rospy.is_shutdown(), "node shutdown")            
        self.failIf(self.fixture_curr is None, "no data from fixture")
        m = self.fixture_curr
        self.assertAlmostEquals(m.a.x, m.b.x)
        self.assertAlmostEquals(m.a.y, m.b.y)
        self.assertAlmostEquals(m.a.z, m.b.z)

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to verify"
        while self.test_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(self.test_curr is None, "no data from test")
        m = self.test_curr
        self.assertAlmostEquals(m.a.x, m.b.x)
        self.assertAlmostEquals(m.a.y, m.b.y)
        self.assertAlmostEquals(m.a.z, m.b.z)

        # a.w = a.x + a.y + a.z.  Just make sure we're in the ballpark
        a = self.test_curr.a
        self.assert_(abs(a.x + a.y + a.z - a.w) < 10.)
Exemple #6
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    def test_int64_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for fixture to verify")
        while self.fixture_prev is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
        self.assertFalse(self.fixture_prev is None, "no data from fixture")
        self.assertFalse(self.fixture_curr is None, "no data from fixture")
        self.assertEqual(self.fixture_prev.data + 1, self.fixture_curr.data, "fixture should incr by one")

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for client to verify")
        while self.test_prev is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertFalse(self.test_prev is None, "no data from test")
        self.assertEqual(self.test_prev.data + 1, self.test_curr.data, "test does not appear to match fixture data")
    def test_tilde_parameter(self):
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to load"
        while self.tilde_msg is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.failIf(timeout_t < time.time(), "timeout exceeded")
        self.failIf(rospy.is_shutdown(), "node shutdown")            
        self.failIf(self.tilde_msg is None)
        
        self.assertEquals(rospy.get_param('param_client/tilde'), self.tilde_msg.data)
Exemple #8
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def publisher():
    rospy.init_node('string_publisher')
    pub = rospy.Publisher('string_in', std_msgs.msg.String)
    m = std_msgs.msg.String(rospy.get_name())
    r = rospy.Rate(10)
    while not rospy.is_shutdown():
        pub.publish(m)
        r.sleep()
def publisher():
  rospy.init_node('string_publisher')
  pub = rospy.Publisher('string_in', std_msgs.msg.String)
  m = std_msgs.msg.String(rospy.get_name())
  r = rospy.Rate(10)
  while not rospy.is_shutdown():
    pub.publish(m)
    r.sleep()
Exemple #10
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    def test_parameter_client_read(self):
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for client to load")

        tests = self.tests
        msgs = [None]
        while any(1 for m in msgs if m is None) and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)
            msgs = [getattr(self, t + '_msg') for t in tests]

        print("msgs: %s" % (msgs))

        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
        self.assertFalse(rospy.is_shutdown(), "node shutdown")
        self.assertFalse(any(1 for m in msgs if m is None),
                         "did not receive all expected messages: " + str(msgs))

        ns = rospy.get_param('parameter_namespace')
        for t in tests:
            p_name = roslib.names.ns_join(ns, t)
            value = rospy.get_param(p_name, t)
            msg = getattr(self, "%s_msg" % (t))
            print("get param: %s" % (p_name))
            print("param value: %s" % (value))
            print("msg value: %s" % (msg))
            if t == 'composite':
                print("value", p_name, value)
                m = Composite(CompositeA(**value['a']),
                              CompositeB(**value['b']))
                self.assertAlmostEqual(m.a.x, msg.a.x)
                self.assertAlmostEqual(m.a.y, msg.a.y)
                self.assertAlmostEqual(m.a.z, msg.a.z)
                self.assertAlmostEqual(m.a.w, msg.a.w)
                self.assertAlmostEqual(m.b.x, msg.b.x)
                self.assertAlmostEqual(m.b.y, msg.b.y)
                self.assertAlmostEqual(m.b.z, msg.b.z)
            elif t == 'list':
                self.assertEqual(list(value), list(msg.int32_array))
            elif t == 'float':
                self.assertAlmostEqual(value, msg.data)
            else:
                self.assertEqual(value, msg.data)
Exemple #11
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def publisher():
    rospy.init_node('testheader_publisher')
    pub = rospy.Publisher('test_header_in', rosjava_test_msgs.msg.TestHeader)
    r = rospy.Rate(10)
    m = rosjava_test_msgs.msg.TestHeader()
    m.caller_id = rospy.get_name()
    m.header.stamp = rospy.get_rostime()
    while not rospy.is_shutdown():
        pub.publish(m)
        r.sleep()
def publisher():
  rospy.init_node('testheader_publisher')
  pub = rospy.Publisher('test_header_in', rosjava_test_msgs.msg.TestHeader)
  r = rospy.Rate(10)
  m = rosjava_test_msgs.msg.TestHeader()
  m.caller_id = rospy.get_name()
  m.header.stamp = rospy.get_rostime()
  while not rospy.is_shutdown():
    pub.publish(m)
    r.sleep()
    def test_parameter_client_read(self):
        timeout_t = time.time() + 20.
        print "waiting for 20 seconds for client to load"

        tests = self.tests
        msgs = [None]
        while any(1 for m in msgs if m is None) and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)
            msgs = [getattr(self, t+'_msg') for t in tests]

        print "msgs: %s"%(msgs)
        
        self.failIf(timeout_t < time.time(), "timeout exceeded")
        self.failIf(rospy.is_shutdown(), "node shutdown")            
        self.failIf(any(1 for m in msgs if m is None), "did not receive all expected messages: "+str(msgs))

        ns = rospy.get_param('parameter_namespace')
        for t in tests:
            p_name = roslib.names.ns_join(ns, t)
            value = rospy.get_param(p_name, t)
            msg = getattr(self, "%s_msg"%(t))
            print "get param: %s"%(p_name)
            print "param value: %s"%(value)
            print "msg value: %s"%(msg)
            if t == 'composite':
                print "value", p_name, value
                m = Composite(CompositeA(**value['a']), CompositeB(**value['b']))
                self.assertAlmostEquals(m.a.x, msg.a.x)
                self.assertAlmostEquals(m.a.y, msg.a.y)
                self.assertAlmostEquals(m.a.z, msg.a.z)
                self.assertAlmostEquals(m.a.w, msg.a.w)
                self.assertAlmostEquals(m.b.x, msg.b.x)
                self.assertAlmostEquals(m.b.y, msg.b.y)
                self.assertAlmostEquals(m.b.z, msg.b.z)
            elif t == 'list':
                self.assertEquals(list(value), list(msg.int32_array))
            elif t == 'float':
                self.assertAlmostEquals(value, msg.data)
            else:
                self.assertEquals(value, msg.data)
def publisher():
  rospy.init_node('int64_publisher')
  pub = rospy.Publisher('int64_in', std_msgs.msg.Int64)
  i = 0
  r = rospy.Rate(10)
  m = std_msgs.msg.Int64(i)
  while not rospy.is_shutdown():
    pub.publish(m)
    i += 1
    m.data = i
    r.sleep()
def publisher():
    rospy.init_node('int64_publisher')
    pub = rospy.Publisher('int64_in', std_msgs.msg.Int64)
    i = 0
    r = rospy.Rate(10)
    m = std_msgs.msg.Int64(i)
    while not rospy.is_shutdown():
        pub.publish(m)
        i += 1
        m.data = i
        r.sleep()
def publisher():
  rospy.init_node('composite_publisher')
  pub = rospy.Publisher('composite_in', test_ros.msg.Composite)
  r = rospy.Rate(10)
  m = test_ros.msg.Composite()
  m.a.x = random.random() * 10000.
  m.a.y = random.random() * 10000.
  m.a.z = random.random() * 10000.
  m.a.w = m.a.x + m.a.y + m.a.z
  
  m.b.x = m.a.x
  m.b.y = m.a.y
  m.b.z = m.a.z
  
  while not rospy.is_shutdown():
    pub.publish(m)
    r.sleep()