test_client_connection_header.py

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#!/usr/bin/env python
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# Revision $Id: add_two_ints_client 3804 2009-02-11 02:16:00Z rob_wheeler $

## Extended version of add_two_int_client that shows how to use
## connection header to pass in metadata to service.

from __future__ import print_function

PKG = 'rospy_tutorials'
NAME = 'test_client_connection_header'

import sys
import unittest

from rospy_tutorials.srv import AddTwoInts
import rospy
import rostest


class TestClientConnectionHeader(unittest.TestCase):
    def __init__(self, *args):
        super(TestClientConnectionHeader, self).__init__(*args)
        self.success = False
        
    def test_header(self):
        import random
        x = random.randint(0, 1000)
        y = random.randint(0, 1000)            

        rospy.wait_for_service('add_two_ints')
    
        try:
            # initialize ServiceProxy with extra header information.
            # header is only exchanged on initial connection
            metadata = { 'cookies' : 'peanut butter' } 
            add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata)

            print("Requesting %s+%s with cookies=%s" % (x, y, metadata['cookies']))
        
            # simplified style
            resp = add_two_ints(x, y)
            print("Server's connection headers were", resp._connection_header)
            self.assert_('callerid' in resp._connection_header)

            return resp.sum
        except rospy.ServiceException as e:
            print("Service call failed: %s" % e)
            raise #fail
        
if __name__ == '__main__':
    if '--node' in sys.argv:
        # run as a normal node instead (test of server_connection_header)
        # the test here is to send the cookies header, which the server test node looks for
        rospy.init_node('sch_test_client', anonymous=True)
        # NOTE different service name
        service_name = 'add_two_ints_header_test'
        rospy.wait_for_service(service_name)
        metadata = { 'cookies' : 'peanut butter' } 
        add_two_ints = rospy.ServiceProxy(service_name, AddTwoInts, headers=metadata)
        try:
            while not rospy.is_shutdown():
                resp = add_two_ints(1, 2)
                # call at 10hz until test is over
                rospy.sleep(0.1)
        except rospy.ServiceException as e:
            pass # happens when test is over
    else:
        rostest.rosrun(PKG, NAME, TestClientConnectionHeader, sys.argv)