def METHOD_NAME(self):
    """Stress test the server, lots of raises and clears"""
    ab_a = AlarmBroadcaster("alarm_a")
    al_a = AlarmListener("alarm_a")
    ab_b = AlarmBroadcaster("alarm_b")
    al_b = AlarmListener("alarm_b")
    al_c = AlarmListener("alarm_c")
    ab_c = AlarmBroadcaster("alarm_c")
    actions = [
        ab_a.raise_alarm,
        ab_b.raise_alarm,
        ab_c.raise_alarm,
        ab_a.clear_alarm,
        ab_b.clear_alarm,
        ab_c.clear_alarm,
    ]
    for i in range(100):
        random.choice(actions)()
        rospy.sleep(0.01)
    # Clear them all as a find state
    ab_a.clear_alarm()
    ab_b.raise_alarm()
    ab_c.raise_alarm()
    # Make sure all alarms are correct
    self.assertTrue(al_a.is_cleared())
    self.assertFalse(al_b.is_cleared())
    self.assertFalse(al_c.is_cleared())
    # Set everything cleared
    ab_b.clear_alarm()
    ab_c.clear_alarm()
    # Make sure of that
    self.assertTrue(al_b.is_cleared())
    self.assertTrue(al_c.is_cleared())