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#!/usr/bin/env python3
import roslib; roslib.load_manifest('test_nodelet')
import rospy
import unittest
import rostest
import signal
import subprocess
import time
from nodelet.srv import *
class TestBondBreakOnShutdown(unittest.TestCase):
def test_bond_break_on_shutdown(self):
'''
Test that the bond is broken cleanly when closing a nodelet loader (#50).
This relies on a debug message printed by the bondcpp package in case
of error.
'''
# start nodelet manager
proc_manager = subprocess.Popen(["rosrun", "nodelet", "nodelet", "manager", "__name:=nodelet_manager"],
stdout=subprocess.PIPE,
stderr=subprocess.PIPE,
bufsize=-1
)
# wait for nodelet manager to be ready
try:
rospy.wait_for_service('/nodelet_manager/load_nodelet', timeout=2)
except:
self.fail("Could not determine that nodelet manager has started")
# load a nodelet
proc_nodelet = subprocess.Popen(["rosrun", "nodelet", "nodelet", "load", "test_nodelet/Plus", "nodelet_manager", "__name:=test"],
stdout=subprocess.PIPE,
stderr=subprocess.PIPE,
bufsize=-1
)
# wait for it to be ready
try:
rospy.wait_for_service('test/get_loggers', timeout=2)
except:
self.fail("Could not determine that nodelet has started")
time.sleep(1)
# stop the nodelet loader via signal (similar to roslaunch killing it)
proc_nodelet.send_signal(signal.SIGINT)
(n_out, n_err) = proc_nodelet.communicate()
# stop the nodelet manager, too
proc_manager.send_signal(signal.SIGINT)
(m_out, m_err) = proc_manager.communicate()
# check that nodelet unloaded and there was no error with bond breaking
self.assertIn('Unloading nodelet /test from manager nodelet_manager', n_out)
self.assertNotIn('Bond failed to break on destruction', m_out)
self.assertNotIn('Bond failed to break on destruction', n_out)
if __name__ == '__main__':
rospy.init_node('test_bond_break_on_shutdown')
rostest.rosrun('test_bond_break_on_shutdown', 'test_bond_break_on_shutdown', TestBondBreakOnShutdown)
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