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#!/usr/bin/env python3
###############################################################################
# Software License Agreement (BSD License)
#
# Copyright (c) 2016, JSK Lab, University of Tokyo.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/o2r other materials provided
# with the distribution.
# * Neither the name of the JSK Lab nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
###############################################################################
__author__ = 'Kentaro Wada <www.kentaro.wada@gmail.com>'
import os
import sys
import unittest
import rosgraph
import rospy
import rosmsg
import roslib
PKG = 'test_nodelet_topic_tools'
NAME = 'test_lazy'
class TestConnection(unittest.TestCase):
def __init__(self, *args):
super(TestConnection, self).__init__(*args)
rospy.init_node(NAME)
self.master = rosgraph.Master(NAME)
def test_no_subscribers(self):
check_connected_topics = rospy.get_param('~check_connected_topics')
# Check assumed topics are not there
_, subscriptions, _ = self.master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
raise ValueError('Found topic: {}'.format(check_topic))
def test_subscriber_appears(self):
topic_type = rospy.get_param('~input_topic_type')
check_connected_topics = rospy.get_param('~check_connected_topics')
wait_time = rospy.get_param('~wait_for_connection', 0)
msg_class = roslib.message.get_message_class(topic_type)
# Subscribe topic and bond connection
sub = rospy.Subscriber('~input', msg_class,
self._cb_test_subscriber_appears)
print('Waiting for connection for {} sec.'.format(wait_time))
rospy.sleep(wait_time)
# Check assumed topics are there
_, subscriptions, _ = self.master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
break
else:
raise ValueError('Not found topic: {}'.format(check_topic))
sub.unregister()
rospy.sleep(1) # wait for disconnection
# Check specified topics do not exist
_, subscriptions, _ = self.master.getSystemState()
for check_topic in check_connected_topics:
for topic, sub_node in subscriptions:
if topic == rospy.get_namespace() + check_topic:
raise ValueError('Found topic: {}'.format(check_topic))
def _cb_test_subscriber_appears(self, msg):
pass
if __name__ == "__main__":
import rostest
rostest.rosrun(PKG, NAME, TestConnection)
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