Added docs to the NameServer and added NameServer test

src/jammi/__init__.py

@@ -1,4 +1,5 @@
 
-__all__ = ["Heart"]
+__all__ = ["Heart", "NameServer"]
 
 from heart import Heart
+from nameserver import NameServer

src/jammi/nameserver.py

@@ -59,8 +59,8 @@ def get_alive(self):
 
         alive = list()
         ctime = time.time()
-        for name, t in times.iteritems():
-            if ctime - t < interval:
+        for name, t in self.times.iteritems():
+            if ctime - t < self.interval:
                 alive.append(name)
         return alive
 
@@ -114,10 +114,10 @@ def start(self):
         else:
             def __thread():
                 while self.running:
-                    data_zip, _ = sock.recvfrom(1024)
+                    data_zip, _ = self.sock.recvfrom(1024)
                     data_str = zlib.decompress(data_zip)
                     data = json.loads(data_str)
-                    self.master[data["name"]] = data
+                    self.masters[data["name"]] = data
                     self.times[data["name"]] = time.time()
             self.running = True
             self.thread = threading.Thread(target=__thread)

tests/heart_test.py

@@ -22,12 +22,9 @@ def test_start():
     heart = jammi.Heart(host, port, rate)
     heart.data["name"] = "test"
     heart.start()
-
     sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
     sock.bind((host, port))
-    i = 0
-    while i < 5:
-        i += 1
+    for i in xrange(5):
         data_zip, addr = sock.recvfrom(1024)
         data = zlib.decompress(data_zip)
         assert(json.loads(data) == heart.data)

tests/ns_test.py

@@ -0,0 +1,35 @@
+
+import os
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(__file__), "../src"))
+
+import jammi
+import rospy
+
+
+def test_start():
+    """
+    Tests that the NameServer is able to store "alive" masters
+    """
+
+    rospy.init_node("jammi_test", anonymous=False)
+    host, port = "localhost", 5005
+    rate = 20
+    ns = jammi.NameServer(host, port, 3)
+    ns.start()
+    heart = jammi.Heart(host, port, rate)
+    heart.data["name"] = "test"
+    heart.start()
+    r = rospy.Rate(10)
+    alive_set = set()
+    for i in xrange(5):
+        alive_set.update(set(ns.get_alive()))
+        r.sleep()
+    assert(list(alive_set)[0] == heart.data["name"])
+    heart.kill()
+    ns.kill()
+
+
+if __name__ == "__main__":
+    test_start()