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Sem van der Hoeven
2023-06-09 19:30:15 +02:00
parent f0bb159c4b
commit 2aff2bcf12
1 changed files with 5 additions and 5 deletions
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10
src/api_communication/test/test_api_listener.py
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@@ -84,18 +84,18 @@ class ApiListenerTest(unittest.TestCase):
def test_api_listener_battery(self, api_listener_node, proc_output): def test_api_listener_battery(self, api_listener_node, proc_output):
battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status',10) battery_publisher = self.node.create_publisher(BatteryStatus, '/fmu/out/battery_status',10)
failsafe_subscriber = self.node.create_subscription(FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10) failsafe_subscriber = self.node.create_subscription(FailsafeMsg, '/drone/failsafe', self.failsafe_callback, 10)
msg = BatteryStatus()
msg.remaining = 0.10
time.sleep(5) # wait for nodes to start time.sleep(5) # wait for nodes to start
self.node.get_logger().info("Starting publishing")
end_time = time.time() + 10.0 end_time = time.time() + 10.0
try: try:
while time.time() < end_time: while time.time() < end_time:
rclpy.spin_once(self.node, timeout_sec=0.1) rclpy.spin_once(self.node, timeout_sec=0.1)
if not self.published_battery_status: self.node.get_logger().info("publishing message")
self.published_battery_status = True battery_publisher.publish(msg)
msg = BatteryStatus()
msg.remaining = 0.10
battery_publisher.publish(msg)
if self.received_failsafe_callback: if self.received_failsafe_callback:
break break
self.assertTrue(self.received_failsafe_callback, "Failsafe was not enabled!") self.assertTrue(self.received_failsafe_callback, "Failsafe was not enabled!")