def test_publish_subscribe(self):
t1 = '/pubsub_1'
t2 = '/pubsub_2'
pub = ProxyPublisher({t1: String})
pub = ProxyPublisher({t2: String}, _latch=True)
sub = ProxySubscriberCached({t1: String})
self.assertTrue(pub.is_available(t1))
self.assertTrue(pub.wait_for_any(t1))
self.assertFalse(pub.wait_for_any(t2))
pub.publish(t1, String('1'))
pub.publish(t2, String('2'))
rospy.sleep(
.5) # make sure latched message is sent before subscriber is added
sub = ProxySubscriberCached({t2: String})
rospy.sleep(
.5) # make sure latched message can be received before checking
self.assertTrue(sub.has_msg(t1))
self.assertEqual(sub.get_last_msg(t1).data, '1')
sub.remove_last_msg(t1)
self.assertFalse(sub.has_msg(t1))
self.assertIsNone(sub.get_last_msg(t1))
self.assertTrue(sub.has_msg(t2))
self.assertEqual(sub.get_last_msg(t2).data, '2')
