Make the test actually work

Author: TheSpeedM

requirements-dev.txt

@@ -10,4 +10,5 @@ pydocstyle
 pytest>=6.0
 sphinx >=3.4
 twine
+websockets >= 12.0
 -e .

tests/test_ws_headers.py

@@ -1,9 +1,10 @@
 from __future__ import print_function
+
+import asyncio
 import threading
 import time
 
-from autobahn.twisted.websocket import WebSocketServerProtocol, WebSocketServerFactory
-from twisted.internet import reactor
+import websockets
 
 from roslibpy import Ros
 
@@ -12,45 +13,54 @@
     'authorization': 'Some auth'
 }
 
-class TestWebSocketServerProtocol(WebSocketServerProtocol):
-    def onConnect(self, request):
-        for key, value in headers.items():
-            assert request.headers.get(key) == value, f"Header {key} did not match expected value {value}"
-        self.factory.context['wait'].set()
 
-    def onOpen(self):
-        self.sendClose()
+async def websocket_handler(websocket, path):
+    request_headers = websocket.request_headers
+    for key, value in headers.items():
+        assert request_headers.get(key) == value, f"Header {key} did not match expected value {value}"
+    await websocket.close()
+
+
+async def start_server(stop_event):
+    server = await websockets.serve(websocket_handler, '127.0.0.1', 9000)
+    await stop_event.wait()
+    server.close()
+    await server.wait_closed()
+
 
-def run_server(context):
-    factory = WebSocketServerFactory()
-    factory.protocol = TestWebSocketServerProtocol
-    factory.context = context
+def run_server(stop_event):
+    asyncio.run(start_server(stop_event))
 
-    reactor.listenTCP(9000, factory)
-    reactor.run(installSignalHandlers=False)
 
 def run_client():
     client = Ros('127.0.0.1', 9000, headers=headers)
     client.run()
     client.close()
 
+
 def test_websocket_headers():
-    context = dict(wait=threading.Event())
+    server_stop_event = asyncio.Event()
+    stop_event = threading.Event()
 
-    server_thread = threading.Thread(target=run_server, args=(context,))
+    server_thread = threading.Thread(target=run_server, args=(server_stop_event,))
     server_thread.start()
 
     time.sleep(1)  # Give the server time to start
 
     client_thread = threading.Thread(target=run_client)
     client_thread.start()
 
-    if not context["wait"].wait(10):
-        raise Exception("Headers were not as expected")
+    # Wait for the client thread to finish or timeout after 10 seconds
+    client_thread.join(timeout=10)
+
+    if client_thread.is_alive():
+        raise Exception("Client did not terminate as expected")
+
+    # Signal the server to stop
+    server_stop_event.set()
+    server_thread.join(timeout=10)
 
-    client_thread.join()
-    reactor.callFromThread(reactor.stop)
-    server_thread.join()
+    if server_thread.is_alive():
+        raise Exception("Server did not stop as expected")
 
-if __name__ == "__main__":
-    test_websocket_headers()
+    stop_event.set()