test_rospy_service.py
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00001 #!/usr/bin/env python
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00033 
00034 import os
00035 import sys
00036 import struct
00037 import unittest
00038 import time
00039 
00040 import rospy
00041 import rospy.service
00042 
00043 class MockServiceClass(object):
00044     _request_class = rospy.AnyMsg
00045     _response_class = rospy.AnyMsg
00046 
00047 class TestRospyService(unittest.TestCase):
00048 
00049     def test_ServiceException(self):
00050         self.assert_(isinstance(rospy.service.ServiceException(), Exception))
00051         
00052     def test_ServiceManager(self):
00053         class MockService(rospy.service._Service):
00054             def __init__(self, name, service_class, uri):
00055                 rospy.service._Service.__init__(self, name, service_class)
00056                 self.uri = uri
00057 
00058         from rospy.service import ServiceManager
00059         sm = ServiceManager()
00060         self.assertEquals({}, sm.map)
00061         try:
00062             sm.lock.acquire()
00063         finally:
00064             sm.lock.release()
00065         self.assertEquals([], sm.get_services())
00066         sm.unregister_all()
00067         self.assertEquals([], sm.get_services())
00068 
00069         # test actual registration
00070         mock = MockService('/serv', MockServiceClass, "rosrpc://uri:1")
00071         mock2 = MockService('/serv', MockServiceClass, "rosrpc://uri:2")        
00072 
00073         sm.register('/serv', mock)
00074         self.assertEquals(mock, sm.get_service('/serv'))
00075         self.assertEquals([('/serv', mock.uri)], sm.get_services())
00076         try:
00077             sm.register('/serv', mock2)
00078             self.fail("duplicate reg should fail")
00079         except rospy.service.ServiceException: pass
00080         
00081         sm.unregister_all()
00082         self.assertEquals([], sm.get_services())
00083         
00084         #  - register two services
00085         sm.register('/serv', mock)
00086         sm.unregister('/serv', mock2)
00087         self.assertEquals(mock, sm.get_service('/serv'))
00088 
00089         sm.register('/serv2', mock2)
00090         self.assertEquals(mock, sm.get_service('/serv'))
00091         self.assertEquals(mock2, sm.get_service('/serv2'))
00092         self.assert_(('/serv', mock.uri) in sm.get_services())
00093         self.assert_(('/serv2', mock2.uri) in sm.get_services())        
00094         
00095         sm.unregister('/serv', mock)
00096         self.assertEquals([('/serv2', mock2.uri)], sm.get_services())
00097         sm.unregister('/serv2', mock2)
00098         self.assertEquals([], sm.get_services())


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