test_service_order.py

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#!/usr/bin/env python
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## Integration test for empty services to test serializers
## and transport

PKG = 'test_rospy'

import sys, time
import unittest

import rospy, rostest
from test_rospy.srv import *

SERVICE_BEFORE = 'service_order_before'
SERVICE_AFTER  = 'service_order_after'

FAKE_SECRET = 123456

WAIT_TIMEOUT = 10.0 #s

def handle_empty_req(req):
    print "Returning fake_secret"
    return EmptyReqSrvResponse(FAKE_SECRET)

def service_before():
    s = rospy.Service(SERVICE_BEFORE, EmptyReqSrv, handle_empty_req)
    rospy.init_node('service_before')
    rospy.spin()

# #530: verify that init_node can occur after service declarations
def service_after():
    rospy.init_node('service_after')
    s = rospy.Service(SERVICE_AFTER, EmptyReqSrv, handle_empty_req)
    rospy.spin()

class TestServiceOrder(unittest.TestCase):
        
    def _test(self, name, srv, req):
        rospy.wait_for_service(name, WAIT_TIMEOUT)        
        s = rospy.ServiceProxy(name, srv)
        resp = s.call(req)
        self.assert_(resp is not None)
        return resp
    def test_before(self):
        resp = self._test(SERVICE_BEFORE, EmptyReqSrv,
                          EmptyReqSrvRequest())
        self.assertEquals(FAKE_SECRET, resp.fake_secret, 
                          "fake_secret fields is not set as expected")        
    def test_after(self):
        resp = self._test(SERVICE_AFTER, EmptyReqSrv,
                          EmptyReqSrvRequest())
        self.assertEquals(FAKE_SECRET, resp.fake_secret, 
                          "fake_secret fields is not set as expected")        
        
if __name__ == '__main__':
    if '--before' in sys.argv:
        service_before()
    elif '--after' in sys.argv:
        service_after()
    else:
        rostest.run(PKG, 'rospy_service_decl_order', TestServiceOrder, sys.argv)