Avahi Tests

Actors

• Centralised computer - _ros-master._tcp listener
• Laptop - _ros-master._tcp publisher (DudeMaster)
• Secondary PC - _ros-master._tcp publisher (also DudeMaster)

On and Off

Scenario

Laptop wireless connection is broken, then restarted.

Result

• When wireless connection is broken:
• laptop avahi_publish cancels the publication.
• pc avahi_browse keeps record of a resolvable zombie [it doesn't keep a resolver open].
• pc zeroconf_avahi detects failure to resolve after a timeout [it keeps the resolver open]
• When wireless connection is remade:
• laptop avahi_publish recreates the publication [automatically].
• pc avahi_browse doesn't see anything [as resolver is not kept open]
• pc zeroconf_avahi resolves again [as it keeps the resolver open]

Bingle Bingle

Scenario

Laptop drops connection. Secondary pc publishes on laptop's same name. Laptop reconnects.

Result

• When secondary pc publishes on the zombie's name:
• pc avahi_browse has no idea [as resolver is not kept open].
• pc zeroconf_avahi resolves again [since it keeps resolver open].
• When wireless connection returns in range:
• laptop avahi_publish publishes on #2
• pc avahi_browse discovers publisher #2
• pc zeroconf_avahi discovers publisher #2