test_service_order.py
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1 #!/usr/bin/env python
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33 
34 ## Integration test for empty services to test serializers
35 ## and transport
36 
37 PKG = 'test_rospy'
38 
39 import sys, time
40 import unittest
41 
42 import rospy, rostest
43 from test_rospy.srv import *
44 
45 SERVICE_BEFORE = 'service_order_before'
46 SERVICE_AFTER = 'service_order_after'
47 
48 FAKE_SECRET = 123456
49 
50 WAIT_TIMEOUT = 10.0 #s
51 
53  print("Returning fake_secret")
54  return EmptyReqSrvResponse(FAKE_SECRET)
55 
57  s = rospy.Service(SERVICE_BEFORE, EmptyReqSrv, handle_empty_req)
58  rospy.init_node('service_before')
59  rospy.spin()
60 
61 # #530: verify that init_node can occur after service declarations
63  rospy.init_node('service_after')
64  s = rospy.Service(SERVICE_AFTER, EmptyReqSrv, handle_empty_req)
65  rospy.spin()
66 
67 class TestServiceOrder(unittest.TestCase):
68 
69  def _test(self, name, srv, req):
70  rospy.wait_for_service(name, WAIT_TIMEOUT)
71  s = rospy.ServiceProxy(name, srv)
72  resp = s.call(req)
73  self.assert_(resp is not None)
74  return resp
75  def test_before(self):
76  resp = self._test(SERVICE_BEFORE, EmptyReqSrv,
77  EmptyReqSrvRequest())
78  self.assertEquals(FAKE_SECRET, resp.fake_secret,
79  "fake_secret fields is not set as expected")
80  def test_after(self):
81  resp = self._test(SERVICE_AFTER, EmptyReqSrv,
82  EmptyReqSrvRequest())
83  self.assertEquals(FAKE_SECRET, resp.fake_secret,
84  "fake_secret fields is not set as expected")
85 
86 if __name__ == '__main__':
87  if '--before' in sys.argv:
89  elif '--after' in sys.argv:
91  else:
92  rostest.run(PKG, 'rospy_service_decl_order', TestServiceOrder, sys.argv)


test_rospy
Author(s): Ken Conley
autogenerated on Sun Feb 3 2019 03:30:22