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 # Revision $Id: add_two_ints_client 3804 2009-02-11 02:16:00Z rob_wheeler $ 00035 00036 ## Extended version of add_two_int_client that shows how to use 00037 ## connection header to pass in metadata to service. 00038 00039 PKG = 'rospy_tutorials' 00040 NAME = 'test_client_connection_header' 00041 import roslib; roslib.load_manifest(PKG) 00042 00043 import sys 00044 import unittest 00045 00046 from rospy_tutorials.srv import AddTwoInts 00047 import rospy 00048 import rostest 00049 00050 00051 class TestClientConnectionHeader(unittest.TestCase): 00052 def __init__(self, *args): 00053 super(TestClientConnectionHeader, self).__init__(*args) 00054 self.success = False 00055 00056 def test_header(self): 00057 import random 00058 x = random.randint(0, 1000) 00059 y = random.randint(0, 1000) 00060 00061 rospy.wait_for_service('add_two_ints') 00062 00063 try: 00064 # initialize ServiceProxy with extra header information. 00065 # header is only exchanged on initial connection 00066 metadata = { 'cookies' : 'peanut butter' } 00067 add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata) 00068 00069 print "Requesting %s+%s with cookies=%s"%(x, y, metadata['cookies']) 00070 00071 # simplified style 00072 resp = add_two_ints(x, y) 00073 print "Server's connection headers were", resp._connection_header 00074 self.assert_('callerid' in resp._connection_header) 00075 00076 return resp.sum 00077 except rospy.ServiceException, e: 00078 print "Service call failed: %s"%e 00079 raise #fail 00080 00081 if __name__ == '__main__': 00082 if '--node' in sys.argv: 00083 # run as a normal node instead (test of server_connection_header) 00084 # the test here is to send the cookies header, which the server test node looks for 00085 rospy.init_node('sch_test_client', anonymous=True) 00086 # NOTE different service name 00087 service_name = 'add_two_ints_header_test' 00088 rospy.wait_for_service(service_name) 00089 metadata = { 'cookies' : 'peanut butter' } 00090 add_two_ints = rospy.ServiceProxy(service_name, AddTwoInts, headers=metadata) 00091 try: 00092 while not rospy.is_shutdown(): 00093 resp = add_two_ints(1, 2) 00094 # call at 10hz until test is over 00095 rospy.sleep(0.1) 00096 except rospy.ServiceException, e: 00097 pass # happens when test is over 00098 else: 00099 rostest.rosrun(PKG, NAME, TestClientConnectionHeader, sys.argv) 00100