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00036 import roslib; roslib.load_manifest('test_rospy')
00037
00038 import os
00039 import sys
00040 import struct
00041 import unittest
00042 import time
00043
00044 import rospy
00045 import rospy.service
00046
00047 class MockServiceClass(rospy.service.ServiceDefinition):
00048 _request_class = rospy.AnyMsg
00049 _response_class = rospy.AnyMsg
00050
00051 class TestRospyService(unittest.TestCase):
00052
00053 def test_ServiceException(self):
00054 self.assert_(isinstance(rospy.service.ServiceException(), Exception))
00055
00056 def test_ServiceManager(self):
00057 class MockService(rospy.service._Service):
00058 def __init__(self, name, service_class, uri):
00059 rospy.service._Service.__init__(self, name, service_class)
00060 self.uri = uri
00061
00062 from rospy.service import ServiceManager
00063 sm = ServiceManager()
00064 self.assertEquals({}, sm.map)
00065 try:
00066 sm.lock.acquire()
00067 finally:
00068 sm.lock.release()
00069 self.assertEquals([], sm.get_services())
00070 sm.unregister_all()
00071 self.assertEquals([], sm.get_services())
00072
00073
00074 mock = MockService('/serv', MockServiceClass, "rosrpc://uri:1")
00075 mock2 = MockService('/serv', MockServiceClass, "rosrpc://uri:2")
00076
00077 sm.register('/serv', mock)
00078 self.assertEquals(mock, sm.get_service('/serv'))
00079 self.assertEquals([('/serv', mock.uri)], sm.get_services())
00080 try:
00081 sm.register('/serv', mock2)
00082 self.fail("duplicate reg should fail")
00083 except rospy.service.ServiceException: pass
00084
00085 sm.unregister_all()
00086 self.assertEquals([], sm.get_services())
00087
00088
00089 sm.register('/serv', mock)
00090 sm.unregister('/serv', mock2)
00091 self.assertEquals(mock, sm.get_service('/serv'))
00092
00093 sm.register('/serv2', mock2)
00094 self.assertEquals(mock, sm.get_service('/serv'))
00095 self.assertEquals(mock2, sm.get_service('/serv2'))
00096 self.assert_(('/serv', mock.uri) in sm.get_services())
00097 self.assert_(('/serv2', mock2.uri) in sm.get_services())
00098
00099 sm.unregister('/serv', mock)
00100 self.assertEquals([('/serv2', mock2.uri)], sm.get_services())
00101 sm.unregister('/serv2', mock2)
00102 self.assertEquals([], sm.get_services())
00103
00104 if __name__ == '__main__':
00105 import rostest
00106 rostest.unitrun('test_rospy', sys.argv[0], TestRospyService, coverage_packages=['rospy.service'])