def test_subscription_constructor(self):
callbacks = SubscriptionEventCallbacks()
liveliness_callback = Mock()
deadline_callback = Mock()
message_callback = Mock()
incompatible_qos_callback = Mock()
expected_num_event_handlers = 1
# No arg
subscription = self.node.create_subscription(EmptyMsg, self.topic_name,
message_callback, 10)
self.assertEqual(len(subscription.event_handlers),
expected_num_event_handlers)
self.node.destroy_subscription(subscription)
# Arg with no callbacks
subscription = self.node.create_subscription(EmptyMsg,
self.topic_name,
message_callback,
10,
event_callbacks=callbacks)
self.assertEqual(len(subscription.event_handlers),
expected_num_event_handlers)
self.node.destroy_subscription(subscription)
# Arg with one of the callbacks
callbacks.deadline = deadline_callback
expected_num_event_handlers += 1
subscription = self.node.create_subscription(EmptyMsg,
self.topic_name,
message_callback,
10,
event_callbacks=callbacks)
self.assertEqual(len(subscription.event_handlers),
expected_num_event_handlers)
self.node.destroy_subscription(subscription)
# Arg with two callbacks
callbacks.liveliness = liveliness_callback
expected_num_event_handlers += 1
subscription = self.node.create_subscription(EmptyMsg,
self.topic_name,
message_callback,
10,
event_callbacks=callbacks)
self.assertEqual(len(subscription.event_handlers),
expected_num_event_handlers)
self.node.destroy_subscription(subscription)
# Arg with three callbacks
callbacks.incompatible_qos = incompatible_qos_callback
subscription = self.node.create_subscription(EmptyMsg,
self.topic_name,
message_callback,
10,
event_callbacks=callbacks)
self.assertEqual(len(subscription.event_handlers), 3)
self.node.destroy_subscription(subscription)
def __init__(self):
qos = QoSProfile(depth=10)
qos.durability = DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
custom_callback = lambda event: print("Custom Incompatible Callback!")
callbacks = SubscriptionEventCallbacks()
callbacks.incompatible_qos = custom_callback
super().__init__('minimal_subscriber')
self.subscription = self.create_subscription(
String,
'topic',
self.listener_callback,
qos,
event_callbacks=callbacks)