def test_publish(self):
sub = rospy.Subscriber(DEFAULT_TOPIC, Statistics, self.msg_cb)
registry = StatisticsRegistry(DEFAULT_TOPIC)
self.last_msg = None
rospy.sleep(0.5) #Time for pub-sub connection
registry.publish()
self.wait_for_msg()
self.evaluate_msgs({}, self.last_msg)
var = 1.0
registry.registerFunction("var", (lambda: var))
self.last_msg = None
registry.publish()
self.wait_for_msg()
self.evaluate_msgs({"var": 1.0}, self.last_msg)
self.last_msg = None
registry.publishCustomStatistic("foo", 23)
self.wait_for_msg()
self.evaluate_msgs({"foo": 23}, self.last_msg)
def test_publish(self):
sub = rospy.Subscriber(DEFAULT_TOPIC + "/full", Statistics,
self.full_msg_cb)
names_sub = rospy.Subscriber(DEFAULT_TOPIC + "/names", StatisticsNames,
self.names_msg_cb)
values_sub = rospy.Subscriber(DEFAULT_TOPIC + "/values", StatisticsValues,
self.values_msg_cb)
registry = StatisticsRegistry(DEFAULT_TOPIC)
rospy.sleep(0.5) #Time for pub-sub connection
self.clear()
registry.publish()
self.wait_for_msg()
self.compare_full_msg({}, self.last_full_msg)
self.assertEqual(self.last_names_msg.names_version,
self.last_values_msg.names_version)
old_names_ver = self.last_names_msg.names_version
var = 1.0
registry.registerFunction("var", (lambda: var))
self.clear()
registry.publish()
self.wait_for_msg()
self.compare_full_msg({"var": 1.0}, self.last_full_msg)
self.assertEqual(self.last_names_msg.names_version,
self.last_values_msg.names_version)
self.assertNotEqual(old_names_ver, self.last_names_msg.names_version)
old_names_ver = self.last_names_msg.names_version
#If we publish the same statistics, names_version shouldn't change
self.clear()
registry.publish()
self.wait_for_msg()
self.assertEqual(old_names_ver, self.last_names_msg.names_version)
self.clear()
registry.publishCustomStatistic("foo", 23)
rospy.sleep(0.2) #hard coded sleep only for full msg
self.compare_full_msg({"foo": 23}, self.last_full_msg)