test_stop_app.py

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#!/usr/bin/env python
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PKG = 'app_manager'

import os
import sys
import time
import unittest

import rospy
import rostest
import rosunit

from app_manager.srv import *

class StopAppTest(unittest.TestCase):

    def __init__(self, *args):
        super(StopAppTest, self).__init__(*args)
        rospy.init_node('stop_app_test')

    def setUp(self):
        rospy.wait_for_service('/robot/list_apps')
        rospy.wait_for_service('/robot/stop_app')
        self.list = rospy.ServiceProxy('/robot/list_apps', ListApps)
        self.stop = rospy.ServiceProxy('/robot/stop_app', StopApp)

    def test_stop_app(self):
        list_req = ListAppsRequest()
        list_res = ListAppsResponse()
        while not 'app_manager/appA' in list(map(lambda x: x.name, list_res.running_apps)):
            list_res = self.list.call(list_req)
            # rospy.logwarn("received 'list_apps' {}".format(list_res))
            time.sleep(1)

        stop_req = StopAppRequest(name='app_manager/appA')
        stop_res = self.stop.call(stop_req)
        rospy.logwarn("received 'stop_app'  {}".format(stop_res))
        self.assertEqual(stop_res.stopped, True)

if __name__ == '__main__':
    try:
        rostest.run('stop_app_test', PKG, StopAppTest, sys.argv)
    except KeyboardInterrupt:
        pass
    print("{} exiting".format(PKG))