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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| import argparse | ||
| import os | ||
| from signal import SIGINT | ||
| import subprocess | ||
| import sys | ||
| import time | ||
|
|
||
| # Specify the directory for the binaries | ||
| DIR_EXAMPLES = "build/examples" | ||
|
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|
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| def pub_and_sub(): | ||
| print("*** Pub & sub test ***") | ||
| test_status = 0 | ||
|
|
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| # Expected z_pub output & status | ||
| z_pub_expected_status = 0 | ||
| z_pub_expected_output = '''Opening session... | ||
| Declaring publisher for 'demo/example/zenoh-pico-pub'... | ||
| Press CTRL-C to quit... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 0] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 1] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 2] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 3] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 4] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 5] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 6] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 7] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 8] Pub from Pico!')... | ||
| Putting Data ('demo/example/zenoh-pico-pub': '[ 9] Pub from Pico!')...''' | ||
|
|
||
| # Expected z_sub output & status | ||
| z_sub_expected_status = 0 | ||
| z_sub_expected_output = '''Opening session... | ||
| Declaring Subscriber on 'demo/example/**'... | ||
| Press CTRL-C to quit... | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 0] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 0 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 1] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 1 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 2] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 2 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 3] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 3 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 4] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 4 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 5] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 5 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 6] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 6 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 7] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 7 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 8] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 8 | ||
| >> [Subscriber] Received ('demo/example/zenoh-pico-pub': '[ 9] Pub from Pico!') | ||
| with attachment: | ||
| 0: source, C | ||
| 1: index, 9''' | ||
|
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||
| print("Start subscriber") | ||
| # Start z_sub in the background | ||
| z_sub_command = f"stdbuf -oL -eL ./{DIR_EXAMPLES}/z_sub_attachment -n 10" | ||
|
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| z_sub_process = subprocess.Popen( | ||
| z_sub_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True | ||
| ) | ||
|
|
||
| # Introduce a delay to ensure z_sub starts | ||
| time.sleep(2) | ||
|
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| print("Start publisher") | ||
| # Start z_pub | ||
| z_pub_command = f"stdbuf -oL -eL ./{DIR_EXAMPLES}/z_pub_attachment -n 10" | ||
| z_pub_process = subprocess.Popen( | ||
| z_pub_command, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True | ||
| ) | ||
|
|
||
| # Wait for z_pub to finish | ||
| z_pub_process.wait() | ||
|
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| print("Stop subscriber") | ||
| time.sleep(2) | ||
| if z_sub_process.poll() is None: | ||
| # send SIGINT to group | ||
| z_sub_process_gid = os.getpgid(z_sub_process.pid) | ||
| os.killpg(z_sub_process_gid, SIGINT) | ||
|
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||
| # Wait for z_sub to finish | ||
| z_sub_process.wait() | ||
|
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||
| print("Check publisher status & output") | ||
| # Check the exit status of z_pub | ||
| z_pub_status = z_pub_process.returncode | ||
| if z_pub_status == z_pub_expected_status: | ||
| print("z_pub status valid") | ||
| else: | ||
| print(f"z_pub status invalid, expected: {z_pub_expected_status}, received: {z_pub_status}") | ||
| test_status = 1 | ||
|
|
||
| # Check output of z_pub | ||
| z_pub_output = z_pub_process.stdout.read() | ||
| if z_pub_expected_output in z_pub_output: | ||
| print("z_pub output valid") | ||
| else: | ||
| print("z_pub output invalid:") | ||
| print(f"Expected: \"{z_pub_expected_output}\"") | ||
| print(f"Received: \"{z_pub_output}\"") | ||
| test_status = 1 | ||
|
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| print("Check subscriber status & output") | ||
| # Check the exit status of z_sub | ||
| z_sub_status = z_sub_process.returncode | ||
| if z_sub_status == z_sub_expected_status: | ||
| print("z_sub status valid") | ||
| else: | ||
| print(f"z_sub status invalid, expected: {z_sub_expected_status}, received: {z_sub_status}") | ||
| test_status = 1 | ||
|
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| # Check output of z_sub | ||
| z_sub_output = z_sub_process.stdout.read() | ||
| if z_sub_expected_output in z_sub_output: | ||
| print("z_sub output valid") | ||
| else: | ||
| print("z_sub output invalid:") | ||
| print(f"Expected: \"{z_sub_expected_output}\"") | ||
| print(f"Received: \"{z_sub_output}\"") | ||
| test_status = 1 | ||
| # Return value | ||
| return test_status | ||
|
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|
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| if __name__ == "__main__": | ||
| EXIT_STATUS = 0 | ||
|
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| # Test pub and sub examples | ||
| if pub_and_sub() == 1: | ||
| EXIT_STATUS = 1 | ||
| # Exit | ||
| sys.exit(EXIT_STATUS) |
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