test_empty_service.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'
NAME = 'empty_service'

import sys, time
import unittest

import rospy, rostest
from test_rospy.srv import *

EMPTY_SERVICE      = 'empty_service'
EMPTY_RETURN_SERVICE = 'empty_return_service'
EMPTY_REQ_SERVICE  = 'empty_req_service'
EMPTY_RESP_SERVICE = 'empty_resp_service'

FAKE_SECRET = 123456

WAIT_TIMEOUT = 10.0 #s

def handle_empty(req):
    print("Returning empty")
    return EmptySrvResponse()

def handle_return_empty(req):
    "print returning empty list"
    return []

## handle empty request 
def handle_empty_req(req):
    print("Returning fake_secret")
    return EmptyReqSrvResponse(FAKE_SECRET)
## handle empty response 
def handle_empty_resp(req):
    if req.fake_secret == FAKE_SECRET:
        print("Request validated, returning empty")     
        return EmptyRespSrvResponse()
    else:
        print("Request did not validate, returning None")

def empty_service():
    rospy.init_node(NAME)
    s1 = rospy.Service(EMPTY_SERVICE, EmptySrv, handle_empty)
    s2 = rospy.Service(EMPTY_REQ_SERVICE, EmptyReqSrv, handle_empty_req)
    s3 = rospy.Service(EMPTY_RESP_SERVICE, EmptyRespSrv, handle_empty_resp)
    s4 = rospy.Service(EMPTY_RETURN_SERVICE, EmptySrv, handle_return_empty)
    rospy.spin()

class TestEmptyServiceClient(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

    # test that __call__ and s.call() work with no-args on an empty request
    def test_call_empty(self):
        rospy.wait_for_service(EMPTY_REQ_SERVICE, WAIT_TIMEOUT)        
        s = rospy.ServiceProxy(EMPTY_REQ_SERVICE, EmptyReqSrv)
        resp = s()
        self.assertEquals(FAKE_SECRET, resp.fake_secret, 
                          "fake_secret fields is not set as expected")        
        resp = s.call()
        self.assertEquals(FAKE_SECRET, resp.fake_secret, 
                          "fake_secret fields is not set as expected")        
        
    def test_empty(self):
        self._test(EMPTY_SERVICE, EmptySrv, EmptySrvRequest())
    # test that an empty return service handler can return an empty list
    def test_return_empty(self):
        self._test(EMPTY_RETURN_SERVICE, EmptySrv, EmptySrvRequest())
    def test_empty_req(self):
        resp = self._test(EMPTY_REQ_SERVICE, EmptyReqSrv,
                          EmptyReqSrvRequest())
        self.assertEquals(FAKE_SECRET, resp.fake_secret, 
                          "fake_secret fields is not set as expected")        
    def test_empty_resp(self):
        self._test(EMPTY_RESP_SERVICE, EmptyRespSrv,
                   EmptyRespSrvRequest(FAKE_SECRET))
        
if __name__ == '__main__':
    if '--service' in sys.argv:
        empty_service()
    else:
        rostest.run(PKG, 'rospy_empty_service', TestEmptyServiceClient, sys.argv)