From f87513b76de852ed9caacea49b92ffcb65d8aadb Mon Sep 17 00:00:00 2001
From: Shubham Gawande <shubhamgawande191@gmail.com>
Date: Wed, 28 Feb 2024 18:00:26 +0100
Subject: [PATCH] added test case for number of robots in mrs

---
 test/test_multi_robot_system.py | 34 +++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)
 create mode 100644 test/test_multi_robot_system.py

diff --git a/test/test_multi_robot_system.py b/test/test_multi_robot_system.py
new file mode 100644
index 0000000..072c8ea
--- /dev/null
+++ b/test/test_multi_robot_system.py
@@ -0,0 +1,34 @@
+import sys
+import unittest
+import rclpy
+from rclpy.node import Node
+
+class TestNumberOfRobots(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.expected_number_of_robots = int(sys.argv[1])  # Get expected number of robots from arguments
+        rclpy.init(args=sys.argv)
+
+    @classmethod
+    def tearDownClass(cls):
+        rclpy.shutdown()
+
+    def test_robot_count(self):
+        node = rclpy.create_node('test_robot_count_node')
+        discovered_robots = []
+
+        def topic_callback(topic_list):
+            nonlocal discovered_robots
+            for topic_name, _ in topic_list:
+                if 'joint_states' in topic_name and topic_name.startswith('/robot_'):
+                    robot_name = topic_name.split('/')[1]
+                    if robot_name not in discovered_robots:
+                        discovered_robots.append(robot_name)
+
+        node.get_topic_names_and_types(node_name=None, node_namespace=None, no_demangle=False, callback=topic_callback)
+        rclpy.spin_once(node, timeout_sec=1.0)
+        self.assertEqual(len(discovered_robots), self.expected_number_of_robots)
+        node.destroy_node()
+
+if __name__ == '__main__':
+    unittest.main() 
\ No newline at end of file