test_rospy_service.py

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#!/usr/bin/env python
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import os
import sys
import struct
import unittest
import time
 
import rospy
import rospy.service
 
class MockServiceClass(object):
    _request_class = rospy.AnyMsg
    _response_class = rospy.AnyMsg
 
class TestRospyService(unittest.TestCase):
 
    def test_ServiceException(self):
        self.assertTrue(isinstance(rospy.service.ServiceException(), Exception))
        
    def test_ServiceManager(self):
        class MockService(rospy.service._Service):
            def __init__(self, name, service_class, uri):
                rospy.service._Service.__init__(self, name, service_class)
                self.uri = uri
 
        from rospy.service import ServiceManager
        sm = ServiceManager()
        self.assertEqual({}, sm.map)
        try:
            sm.lock.acquire()
        finally:
            sm.lock.release()
        self.assertEqual([], sm.get_services())
        sm.unregister_all()
        self.assertEqual([], sm.get_services())
 
        # test actual registration
        mock = MockService('/serv', MockServiceClass, "rosrpc://uri:1")
        mock2 = MockService('/serv', MockServiceClass, "rosrpc://uri:2")        
 
        sm.register('/serv', mock)
        self.assertEqual(mock, sm.get_service('/serv'))
        self.assertEqual([('/serv', mock.uri)], sm.get_services())
        try:
            sm.register('/serv', mock2)
            self.fail("duplicate reg should fail")
        except rospy.service.ServiceException: pass
        
        sm.unregister_all()
        self.assertEqual([], sm.get_services())
        
        #  - register two services
        sm.register('/serv', mock)
        sm.unregister('/serv', mock2)
        self.assertEqual(mock, sm.get_service('/serv'))
 
        sm.register('/serv2', mock2)
        self.assertEqual(mock, sm.get_service('/serv'))
        self.assertEqual(mock2, sm.get_service('/serv2'))
        self.assertTrue(('/serv', mock.uri) in sm.get_services())
        self.assertTrue(('/serv2', mock2.uri) in sm.get_services())        
        
        sm.unregister('/serv', mock)
        self.assertEqual([('/serv2', mock2.uri)], sm.get_services())
        sm.unregister('/serv2', mock2)
        self.assertEqual([], sm.get_services())