test_composite_passthrough.py

#!/usr/bin/env python3
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# Revision $Id: test_empty_service.py 3803 2009-02-11 02:04:39Z rob_wheeler $

PKG = 'rosjava'
NAME = 'composite_passthrough'
import roslib; roslib.load_manifest(PKG)

from ros import rospy
from ros import rosjava_test_msgs
from ros import rostest

import sys
import time
import unittest

from rosjava_test_msgs.msg import Composite

class CompositePassthrough(unittest.TestCase):
        
    def setUp(self):
        rospy.init_node(NAME)
        
        self.fixture_curr = None
        self.test_curr = None
        
        rospy.Subscriber('composite_in', Composite, self.cb_from_fixture)
        rospy.Subscriber('composite_out', Composite, self.cb_from_test)
        
    def cb_from_fixture(self, msg):
        self.fixture_curr = msg

    def cb_from_test(self, msg):
        self.test_curr = msg

    def test_composite_passthrough(self):
        # 20 seconds to validate fixture
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for fixture to verify")
        while self.fixture_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertFalse(timeout_t < time.time(), "timeout exceeded")
        self.assertFalse(rospy.is_shutdown(), "node shutdown")            
        self.assertFalse(self.fixture_curr is None, "no data from fixture")
        m = self.fixture_curr
        self.assertAlmostEqual(m.a.x, m.b.x)
        self.assertAlmostEqual(m.a.y, m.b.y)
        self.assertAlmostEqual(m.a.z, m.b.z)

        # another 20 seconds to validate client
        timeout_t = time.time() + 20.
        print("waiting for 20 seconds for client to verify")
        while self.test_curr is None and \
                not rospy.is_shutdown() and \
                timeout_t > time.time():
            time.sleep(0.2)

        self.assertFalse(self.test_curr is None, "no data from test")
        m = self.test_curr
        self.assertAlmostEqual(m.a.x, m.b.x)
        self.assertAlmostEqual(m.a.y, m.b.y)
        self.assertAlmostEqual(m.a.z, m.b.z)

        # a.w = a.x + a.y + a.z.  Just make sure we're in the ballpark
        a = self.test_curr.a
        self.assertTrue(abs(a.x + a.y + a.z - a.w) < 10.)

if __name__ == '__main__':
    import rostest
    rostest.run(PKG, NAME, CompositePassthrough, sys.argv)