00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 ## Integration test for empty services to test serializers 00035 ## and transport 00036 00037 PKG = 'test_rospy' 00038 NAME = 'empty_service' 00039 00040 import sys, time 00041 import unittest 00042 00043 import rostest 00044 00045 class TestServiceFailure(unittest.TestCase): 00046 00047 def test_persistent(self): 00048 # fail_two_ints succeeds unless the first argument is -1. 00049 # this makes sure, in the persistent case, that the proxy handle remains valid after a call 00050 from test_rosmaster.srv import AddTwoInts 00051 import rospy 00052 rospy.wait_for_service('fail_two_ints', 10.) 00053 p = rospy.ServiceProxy('fail_two_ints', AddTwoInts, persistent=True) 00054 for a in [1, -1, 1, -1, -1, -1, -1, 1]: 00055 try: 00056 resp = p(a, 1) 00057 if a == 1: 00058 self.assertEquals(resp.sum, 2) 00059 else: 00060 self.fail("service call should have failed: %s,%s, %s"%(a, 1, resp.sum)) 00061 except rospy.ServiceException as e: 00062 if a == -1: 00063 # expected 00064 pass 00065 else: 00066 self.fail("service call failed when it shouldn't have: %s"%str(e)) 00067 00068 def test_non_persistent(self): 00069 # fail_two_ints succeeds unless the first argument is -1. 00070 # this makes sure, in the non-persistent case, that the proxy handle remains valid after a call 00071 from test_rosmaster.srv import AddTwoInts 00072 import rospy 00073 rospy.wait_for_service('fail_two_ints', 10.) 00074 p = rospy.ServiceProxy('fail_two_ints', AddTwoInts) 00075 for a in [1, -1, 1, -1, -1, -1, -1, 1]: 00076 try: 00077 resp = p(a, 1) 00078 if a == 1: 00079 self.assertEquals(resp.sum, 2) 00080 else: 00081 self.fail("service call should have failed") 00082 except rospy.ServiceException: 00083 if a == -1: 00084 # expected 00085 pass 00086 else: 00087 self.fail("service call should have failed") 00088 00089 00090 if __name__ == '__main__': 00091 rostest.run(PKG, 'rospy_service_failure', TestServiceFailure, sys.argv)