test_server_connection_header.py

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#!/usr/bin/env python
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# Revision $Id: add_two_ints_client 3804 2009-02-11 02:16:00Z rob_wheeler $

## Extended version of add_two_int_client that shows how to use
## connection header to pass in metadata to service.

from __future__ import print_function

PKG = 'rospy_tutorials'
NAME = 'test_server_connection_header'

import sys
import time
import unittest

from rospy_tutorials.srv import AddTwoInts, AddTwoIntsResponse
import rospy
import rostest

class TestServerConnectionHeader(unittest.TestCase):
    def __init__(self, *args):
        super(TestServerConnectionHeader, self).__init__(*args)
        self.success = False
        rospy.init_node(NAME, anonymous=True)
        s = rospy.Service('add_two_ints_header_test', AddTwoInts, self.handle_request)        
        
    def handle_request(self, req):
        if 'cookies' in req._connection_header:
            print("GOT", req._connection_header['cookies'])
            self.success = req._connection_header['cookies'] == 'peanut butter'
        return AddTwoIntsResponse(3)

    def test_header(self):
        timeout_t = time.time() + 10.0*1000 #10 seconds
        while not rospy.is_shutdown() and not self.success and time.time() < timeout_t:
            time.sleep(0.1)
        self.assert_(self.success, str(self.success))
        
if __name__ == '__main__':
    rostest.rosrun(PKG, NAME, TestServerConnectionHeader, sys.argv)