def test_publisher_constructor(self):
callbacks = PublisherEventCallbacks()
liveliness_callback = Mock()
deadline_callback = Mock()
# No arg
publisher = self.node.create_publisher(EmptyMsg, 'test_topic', 10)
self.assertEqual(len(publisher.event_handlers), 0)
self.node.destroy_publisher(publisher)
# Arg with no callbacks
publisher = self.node.create_publisher(
EmptyMsg, 'test_topic', 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 0)
self.node.destroy_publisher(publisher)
# Arg with one of the callbacks
callbacks.deadline = deadline_callback
publisher = self.node.create_publisher(
EmptyMsg, 'test_topic', 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 1)
self.node.destroy_publisher(publisher)
# Arg with both callbacks
callbacks.liveliness = liveliness_callback
publisher = self.node.create_publisher(
EmptyMsg, 'test_topic', 10, event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 2)
self.node.destroy_publisher(publisher)
def test_publisher_constructor(self):
callbacks = PublisherEventCallbacks()
liveliness_callback = Mock()
deadline_callback = Mock()
incompatible_qos_callback = Mock()
expected_num_event_handlers = 0 if self.is_fastrtps else 1
# No arg
publisher = self.node.create_publisher(EmptyMsg, self.topic_name, 10)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with no callbacks
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with one of the callbacks
callbacks.deadline = deadline_callback
expected_num_event_handlers += 1
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with two callbacks
callbacks.liveliness = liveliness_callback
expected_num_event_handlers += 1
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers),
expected_num_event_handlers)
self.node.destroy_publisher(publisher)
# Arg with three callbacks
callbacks.incompatible_qos = incompatible_qos_callback
try:
publisher = self.node.create_publisher(EmptyMsg,
self.topic_name,
10,
event_callbacks=callbacks)
self.assertEqual(len(publisher.event_handlers), 3)
self.node.destroy_publisher(publisher)
except UnsupportedEventTypeError:
self.assertTrue(self.is_fastrtps)