test_client_connection_header.py
Go to the documentation of this file.
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 


rospy_tutorials
Author(s): Ken Conley
autogenerated on Mon Oct 6 2014 06:54:54