test_empty_service.py
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00001 #!/usr/bin/env python
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00033 
00034 ## Integration test for empty services to test serializers
00035 ## and transport
00036 
00037 PKG = 'test_rospy'
00038 NAME = 'empty_service'
00039 
00040 import sys, time
00041 import unittest
00042 
00043 import rospy, rostest
00044 from test_rospy.srv import *
00045 
00046 EMPTY_SERVICE      = 'empty_service'
00047 EMPTY_RETURN_SERVICE = 'empty_return_service'
00048 EMPTY_REQ_SERVICE  = 'empty_req_service'
00049 EMPTY_RESP_SERVICE = 'empty_resp_service'
00050 
00051 FAKE_SECRET = 123456
00052 
00053 WAIT_TIMEOUT = 10.0 #s
00054 
00055 def handle_empty(req):
00056     print("Returning empty")
00057     return EmptySrvResponse()
00058 
00059 def handle_return_empty(req):
00060     "print returning empty list"
00061     return []
00062 
00063 ## handle empty request 
00064 def handle_empty_req(req):
00065     print("Returning fake_secret")
00066     return EmptyReqSrvResponse(FAKE_SECRET)
00067 ## handle empty response 
00068 def handle_empty_resp(req):
00069     if req.fake_secret == FAKE_SECRET:
00070         print("Request validated, returning empty")     
00071         return EmptyRespSrvResponse()
00072     else:
00073         print("Request did not validate, returning None")
00074 
00075 def empty_service():
00076     rospy.init_node(NAME)
00077     s1 = rospy.Service(EMPTY_SERVICE, EmptySrv, handle_empty)
00078     s2 = rospy.Service(EMPTY_REQ_SERVICE, EmptyReqSrv, handle_empty_req)
00079     s3 = rospy.Service(EMPTY_RESP_SERVICE, EmptyRespSrv, handle_empty_resp)
00080     s4 = rospy.Service(EMPTY_RETURN_SERVICE, EmptySrv, handle_return_empty)
00081     rospy.spin()
00082 
00083 class TestEmptyServiceClient(unittest.TestCase):
00084         
00085     def _test(self, name, srv, req):
00086         rospy.wait_for_service(name, WAIT_TIMEOUT)        
00087         s = rospy.ServiceProxy(name, srv)
00088         resp = s.call(req)
00089         self.assert_(resp is not None)
00090         return resp
00091 
00092     # test that __call__ and s.call() work with no-args on an empty request
00093     def test_call_empty(self):
00094         rospy.wait_for_service(EMPTY_REQ_SERVICE, WAIT_TIMEOUT)        
00095         s = rospy.ServiceProxy(EMPTY_REQ_SERVICE, EmptyReqSrv)
00096         resp = s()
00097         self.assertEquals(FAKE_SECRET, resp.fake_secret, 
00098                           "fake_secret fields is not set as expected")        
00099         resp = s.call()
00100         self.assertEquals(FAKE_SECRET, resp.fake_secret, 
00101                           "fake_secret fields is not set as expected")        
00102         
00103     def test_empty(self):
00104         self._test(EMPTY_SERVICE, EmptySrv, EmptySrvRequest())
00105     # test that an empty return service handler can return an empty list
00106     def test_return_empty(self):
00107         self._test(EMPTY_RETURN_SERVICE, EmptySrv, EmptySrvRequest())
00108     def test_empty_req(self):
00109         resp = self._test(EMPTY_REQ_SERVICE, EmptyReqSrv,
00110                           EmptyReqSrvRequest())
00111         self.assertEquals(FAKE_SECRET, resp.fake_secret, 
00112                           "fake_secret fields is not set as expected")        
00113     def test_empty_resp(self):
00114         self._test(EMPTY_RESP_SERVICE, EmptyRespSrv,
00115                    EmptyRespSrvRequest(FAKE_SECRET))
00116         
00117 if __name__ == '__main__':
00118     if '--service' in sys.argv:
00119         empty_service()
00120     else:
00121         rostest.run(PKG, 'rospy_empty_service', TestEmptyServiceClient, sys.argv)


test_rospy
Author(s): Ken Conley
autogenerated on Thu Jun 6 2019 21:10:57