def test_topic_filtering(self):
"""Tests if topic filtering works properly using number of received messages."""
r1 = zmqObjectExchanger("robot1", "127.0.0.1", 1234)
r2 = zmqObjectExchanger("robot2", "127.0.0.1", 4321)
r1.add_remote("robot2", "127.0.0.1", 4321, ["strings_topic"])
time.sleep(0.1)
for i in range(0, 10):
r2.send_msg("strings_topic", str(i))
r2.send_msg("strings_topic_twofold", str(2*i))
r2.send_msg("numbers_topic", i)
r2.send_msg("numbers_topic_twofold", 2*i)
time.sleep(0.1)
r1msgs = r1.get_msgs()
r1.stop_listening()
r2.stop_listening()
self.assertEqual(len(r1msgs), 10)
def test_getmsgs_filter(self):
"""This tests if we can read messages from only one source correctly."""
r1 = zmqObjectExchanger("robot1", "127.0.0.1", 1234)
r2 = zmqObjectExchanger("robot2", "127.0.0.1", 4321)
r3 = zmqObjectExchanger("robot3", "127.0.0.1", 4356)
r1.add_remote("robot2", "127.0.0.1", 4321)
r1.add_remote("robot3", "127.0.0.1", 4356)
time.sleep(0.1)
data = [1, 2, 3, "Lorem Ipsum"]
r2.send_msg("some_topic", data)
r3.send_msg("another_topic", data)
time.sleep(0.1)
r1msgs = r1.get_msgs("robot3")
r1.stop_listening()
r2.stop_listening()
r3.stop_listening()
self.assertEqual(len(r1msgs), 1)
self.assertEqual(r1msgs[0]["name"], "robot3")
def test_callback(self):
"""Tests if callback is called properly."""
r1 = zmqObjectExchanger("robot1", "127.0.0.1", 1234, callback=self.callback)
r2 = zmqObjectExchanger("robot2", "127.0.0.1", 4321)
r1.add_remote("robot2", "127.0.0.1", 4321)
time.sleep(0.1)
r2.send_msg("some_topic", "some message")
time.sleep(0.1)
r1.spinOnce()
r1.stop_listening()
r2.stop_listening()
self.assertEqual(self.callback_called, True)
def test_shared_key(self):
"""Tests usage of shared key for better security."""
key = "myHyperUltraSecureKey"
r1 = zmqObjectExchanger("robot1", "127.0.0.1", 1234, shared_key=key)
r2 = zmqObjectExchanger("robot2", "127.0.0.1", 4321, shared_key=key)
r1.add_remote("robot2", "127.0.0.1", 4321)
time.sleep(0.1)
r2.send_msg("secure_topic", "confident message")
time.sleep(0.1)
r1msgs = r1.get_msgs()
r1.stop_listening()
r2.stop_listening()
self.assertEqual(len(r1msgs), 1)
def test_shared_key_on_one_side(self):
"""Tests usage of shared key where keys are different."""
key = "myHyperUltraSecureKey"
mkey = "myWrongHyperUltraSecureKey"
r1 = zmqObjectExchanger("robot1", "127.0.0.1", 1234, shared_key=key)
r2 = zmqObjectExchanger("robot2", "127.0.0.1", 4321, shared_key=mkey)
r1.add_remote("robot2", "127.0.0.1", 4321)
time.sleep(0.1)
r2.send_msg("secure_topic", "confident message")
time.sleep(0.1)
r1msgs = r1.get_msgs()
r1.stop_listening()
r2.stop_listening()
self.assertEqual(len(r1msgs), 0)
def __init__(self, boundary, center):
self.tfl = tf.TransformListener()
self.comm = zmqObjectExchanger("PR2", "127.0.0.1", 1234)
self.comm.add_remote("Toad", "127.0.0.1", 4567)
self.boundary = boundary
self.center = center
self.action_client = actionlib.SimpleActionClient('explore_server', frontier_exploration.msg.ExploreTaskAction)
rospy.Timer(rospy.Duration(1.0), self.outDataTimer)
rospy.Timer(rospy.Duration(0.25), self.inDataTimer)
self.stop_exploring = False
def test_object_integrity(self):
"""This tests if sent object is received correctly."""
r1 = zmqObjectExchanger("robot1", "127.0.0.1", 1234)
r2 = zmqObjectExchanger("robot2", "127.0.0.1", 4321)
r1.add_remote("robot2", "127.0.0.1", 4321)
time.sleep(0.1)
obj = testClass()
r2.send_msg("some_topic", obj)
time.sleep(0.1)
r1msgs = r1.get_msgs()
r1.stop_listening()
r2.stop_listening()
self.assertEqual(len(r1msgs), 1)
self.assertEqual(r1msgs[0]["data"].method(), "testClass")
def __init__(self, robot_name, addr, port):
self.forwards = {}
# name, ip address and port of "this" robot
self.zmq = zmqObjectExchanger(robot_name, addr, port)
