def test_Subscriber_unregister(self):
# regression test for #3029 (unregistering a Subcriber with no
# callback) plus other unregistration tests
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'unregistertest'
rname = rospy.resolve_name(name)
data_class = test_rospy.msg.Val
sub = Subscriber(name, data_class)
self.assertEquals(None, sub.callback)
# verify impl (test_Subscriber handles more verification, we
# just care about callbacks and ref_count state here)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals(1, impl.ref_count)
self.assertEquals([], impl.callbacks)
# unregister should release the underlying impl
sub.unregister()
self.assertEquals(
None,
get_topic_manager().get_impl(Registration.SUB, rname))
# create two subs
sub2 = Subscriber(name, data_class)
sub3 = Subscriber(name, data_class)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
# - test that they share the same impl
self.assert_(impl == sub2.impl)
self.assert_(impl == sub3.impl)
# - test basic impl state
self.assertEquals([], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - make sure double unregister is safe
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - clean it up
sub3.unregister()
self.assertEquals(0, impl.ref_count)
self.assertEquals(
None,
get_topic_manager().get_impl(Registration.SUB, rname))
# CALLBACKS
cb_args5 = 5
cb_args6 = 6
cb_args7 = 7
sub4 = Subscriber(name, data_class, callback1)
# - use should be allowed to subcribe using the same callback
# and it shouldn't interfere on unregister
sub5 = Subscriber(name, data_class, callback2, cb_args5)
sub6 = Subscriber(name, data_class, callback2, cb_args6)
sub7 = Subscriber(name, data_class, callback2, cb_args7)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals(4, impl.ref_count)
self.assertEquals([(callback1, None), (callback2, cb_args5),
(callback2, cb_args6), (callback2, cb_args7)],
impl.callbacks)
# unregister sub6 first to as it is most likely to confuse any callback-finding logic
sub6.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args5),
(callback2, cb_args7)], impl.callbacks)
self.assertEquals(3, impl.ref_count)
sub5.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args7)],
impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub4.unregister()
self.assertEquals([(callback2, cb_args7)], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub7.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
self.assertEquals(
None,
get_topic_manager().get_impl(Registration.SUB, rname))
# one final condition: two identical subscribers
sub8 = Subscriber(name, data_class, callback1, 'hello')
sub9 = Subscriber(name, data_class, callback1, 'hello')
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals([(callback1, 'hello'), (callback1, 'hello')],
impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub8.unregister()
self.assertEquals([(callback1, 'hello')], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub9.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
def test_Subscriber(self):
#TODO: test callback args
#TODO: negative buff_size
#TODO: negative queue_size
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'foo'
rname = rospy.resolve_name('foo')
data_class = test_rospy.msg.Val
# test invalid params
for n in [None, '', 1]:
try:
Subscriber(n, data_class)
self.fail("should not allow invalid name")
except ValueError:
pass
for d in [None, 1, TestRospyTopics]:
try:
Subscriber(name, d)
self.fail("should now allow invalid data_class")
except ValueError:
pass
try:
Subscriber(name, None)
self.fail("None should not be allowed for data_class")
except ValueError:
pass
sub = Subscriber(name, data_class)
self.assertEquals(rname, sub.resolved_name)
self.assertEquals(data_class, sub.data_class)
self.assertEquals('test_rospy/Val', sub.type)
self.assertEquals(data_class._md5sum, sub.md5sum)
self.assertEquals(Registration.SUB, sub.reg_type)
# verify impl as well
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals([], impl.callbacks)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.assertEquals(None, impl.queue_size)
self.assertEquals(DEFAULT_BUFF_SIZE, impl.buff_size)
self.failIf(impl.tcp_nodelay)
self.assertEquals(1, impl.ref_count)
self.failIf(impl.closed)
# round 2, now start setting options and make sure underlying impl is reconfigured
name = 'foo'
data_class = test_rospy.msg.Val
queue_size = 1
buff_size = 1
sub = Subscriber(name,
data_class,
callback=callback1,
queue_size=queue_size,
buff_size=buff_size,
tcp_nodelay=True)
self.assertEquals(rname, sub.resolved_name)
# - sub.name is a backwards-compat field as it is public API
self.assertEquals(rname, sub.name)
self.assertEquals(data_class, sub.data_class)
# verify impl
impl2 = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == impl2) # should be same instance
self.assertEquals([(callback1, None)], impl.callbacks)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.assertEquals(queue_size, impl.queue_size)
self.assertEquals(buff_size, impl.buff_size)
self.assert_(impl.tcp_nodelay)
self.assertEquals(2, impl.ref_count)
self.failIf(impl.closed)
# round 3, make sure that options continue to reconfigure
# underlying impl also test that tcp_nodelay is sticky. this
# is technically undefined, but this is how rospy chose to
# implement.
name = 'foo'
data_class = test_rospy.msg.Val
queue_size = 2
buff_size = 2
sub = Subscriber(name,
data_class,
callback=callback2,
queue_size=queue_size,
buff_size=buff_size,
tcp_nodelay=False)
# verify impl
impl2 = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == impl2) # should be same instance
self.assertEquals(set([(callback1, None), (callback2, None)]),
set(impl.callbacks))
self.assertEquals(queue_size, impl.queue_size)
self.assertEquals(buff_size, impl.buff_size)
self.assert_(impl.tcp_nodelay)
self.assertEquals(3, impl.ref_count)
self.failIf(impl.closed)
def test_Subscriber_unregister(self):
# regression test for #3029 (unregistering a Subcriber with no
# callback) plus other unregistration tests
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'unregistertest'
rname = rospy.resolve_name(name)
data_class = test_rospy.msg.Val
sub = Subscriber(name, data_class)
self.assertEquals(None, sub.callback)
# verify impl (test_Subscriber handles more verification, we
# just care about callbacks and ref_count state here)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals(1, impl.ref_count)
self.assertEquals([], impl.callbacks)
# unregister should release the underlying impl
sub.unregister()
self.assertEquals(None, get_topic_manager().get_impl(Registration.SUB, rname))
# create two subs
sub2 = Subscriber(name, data_class)
sub3 = Subscriber(name, data_class)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
# - test that they share the same impl
self.assert_(impl == sub2.impl)
self.assert_(impl == sub3.impl)
# - test basic impl state
self.assertEquals([], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - make sure double unregister is safe
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - clean it up
sub3.unregister()
self.assertEquals(0, impl.ref_count)
self.assertEquals(None, get_topic_manager().get_impl(Registration.SUB, rname))
# CALLBACKS
cb_args5 = 5
cb_args6 = 6
cb_args7 = 7
sub4 = Subscriber(name, data_class, callback1)
# - use should be allowed to subcribe using the same callback
# and it shouldn't interfere on unregister
sub5 = Subscriber(name, data_class, callback2, cb_args5)
sub6 = Subscriber(name, data_class, callback2, cb_args6)
sub7 = Subscriber(name, data_class, callback2, cb_args7)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals(4, impl.ref_count)
self.assertEquals([(callback1, None), (callback2, cb_args5), (callback2, cb_args6), (callback2, cb_args7)], impl.callbacks)
# unregister sub6 first to as it is most likely to confuse any callback-finding logic
sub6.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args5), (callback2, cb_args7)], impl.callbacks)
self.assertEquals(3, impl.ref_count)
sub5.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args7)], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub4.unregister()
self.assertEquals([(callback2, cb_args7)], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub7.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
self.assertEquals(None, get_topic_manager().get_impl(Registration.SUB, rname))
# one final condition: two identical subscribers
sub8 = Subscriber(name, data_class, callback1, 'hello')
sub9 = Subscriber(name, data_class, callback1, 'hello')
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals([(callback1, 'hello'), (callback1, 'hello')], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub8.unregister()
self.assertEquals([(callback1, 'hello')], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub9.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)