Add websocket header test

Author: TheSpeedM

tests/test_ws_headers.py

@@ -0,0 +1,56 @@
+from __future__ import print_function
+import threading
+import time
+
+from autobahn.twisted.websocket import WebSocketServerProtocol, WebSocketServerFactory
+from twisted.internet import reactor
+
+from roslibpy import Ros
+
+headers = {
+    'cookie': 'token=rosbridge',
+    '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()
+
+def run_server(context):
+    factory = WebSocketServerFactory()
+    factory.protocol = TestWebSocketServerProtocol
+    factory.context = context
+
+    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_thread = threading.Thread(target=run_server, args=(context,))
+    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")
+
+    client_thread.join()
+    reactor.callFromThread(reactor.stop)
+    server_thread.join()
+
+if __name__ == "__main__":
+    test_websocket_headers()