def __init__(
self,
ros_adapter,
robot_name,
pubsub_client,
network,
ros_topic,
params):
self.ros_adapter = ros_adapter
self.ros_topic = ros_topic
self.network = network
self.latch = params.get('latch', False)
self.max_hz_filter = _MaxHzFilter(params.get('max_hz', 0))
self.latched_msg = None
self.topic = pubsub_client.topic(pubsub_topic_name(robot_name, ros_topic))
if not self.topic.exists():
self.topic.create()
self.subscription = self.topic.subscription(
pubsub_subscription_name(self.topic.name, network))
if not self.subscription.exists():
self.subscription.create()
self.publish_queue = Queue.Queue()
# TODO(rodrigoq): add a way to unsubscribe on closing the app
rospy.loginfo('creating ROS subscriber for %s...', ros_topic)
self.ros_subscriber = shapeshifter.Subscriber(ros_topic, self.callback)
# TODO(rodrigoq): we always use latched publishers because we register
# lazily on the first message, meaning that subscribers otherwise miss the
# first message. This could have unintended effects, so it would be better
# to have some sort of delay/timeout on the first message.
self.ros_publisher = shapeshifter.Publisher(ros_topic, self.ROS_QUEUE_SIZE,
latch=True)
self.pull_thread = threading.Thread(target=self.pull_pubsub_messages)
# TODO(rodrigoq): add a way to cleanly stop the thread
self.pull_thread.daemon = True
self.pull_thread.start()
self.publish_thread = threading.Thread(target=self.publish_pubsub_messages)
# TODO(rodrigoq): add a way to cleanly stop the thread
self.publish_thread.daemon = True
self.publish_thread.start()
def testSubscriber_MessageHasConnectionHeader(self):
"""Checks messages received by Subscriber have connection header.
Publishes a string with rospy.Publisher, receives it with
shapeshifter.Subscriber, and checks it has _connection_header.
"""
callback = mock.Mock()
s = shapeshifter.Subscriber(self.id(), callback)
p = rospy.Publisher(
self.id(),
std_msgs.msg.String,
queue_size=QUEUE_SIZE,
latch=True)
p.publish(std_msgs.msg.String("hello"))
(message,), _ = self.waitForCall(callback)
self.assertTrue(hasattr(message, "_connection_header"),
"message has no _connection_header attribute")
def testSubscriber_MessageHasSerializedString(self):
"""Checks messages received by Subscriber have serialized contents.
Publishes a string with rospy.Publisher, receives it with
shapeshifter.Subscriber, and checks it contains a serialized string in
_buff.
"""
callback = mock.Mock()
s = shapeshifter.Subscriber(self.id(), callback)
p = rospy.Publisher(
self.id(),
std_msgs.msg.String,
queue_size=QUEUE_SIZE,
latch=True)
p.publish(std_msgs.msg.String("hello"))
(message,), _ = self.waitForCall(callback)
ros_string = std_msgs.msg.String()
ros_string.deserialize(message._buff)
self.assertEqual(ros_string.data, "hello", "message contains wrong string")