test_service_order.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 
00039 import sys, time
00040 import unittest
00041 
00042 import rospy, rostest
00043 from test_rospy.srv import *
00044 
00045 SERVICE_BEFORE = 'service_order_before'
00046 SERVICE_AFTER  = 'service_order_after'
00047 
00048 FAKE_SECRET = 123456
00049 
00050 WAIT_TIMEOUT = 10.0 #s
00051 
00052 def handle_empty_req(req):
00053     print("Returning fake_secret")
00054     return EmptyReqSrvResponse(FAKE_SECRET)
00055 
00056 def service_before():
00057     s = rospy.Service(SERVICE_BEFORE, EmptyReqSrv, handle_empty_req)
00058     rospy.init_node('service_before')
00059     rospy.spin()
00060 
00061 # #530: verify that init_node can occur after service declarations
00062 def service_after():
00063     rospy.init_node('service_after')
00064     s = rospy.Service(SERVICE_AFTER, EmptyReqSrv, handle_empty_req)
00065     rospy.spin()
00066 
00067 class TestServiceOrder(unittest.TestCase):
00068         
00069     def _test(self, name, srv, req):
00070         rospy.wait_for_service(name, WAIT_TIMEOUT)        
00071         s = rospy.ServiceProxy(name, srv)
00072         resp = s.call(req)
00073         self.assert_(resp is not None)
00074         return resp
00075     def test_before(self):
00076         resp = self._test(SERVICE_BEFORE, EmptyReqSrv,
00077                           EmptyReqSrvRequest())
00078         self.assertEquals(FAKE_SECRET, resp.fake_secret, 
00079                           "fake_secret fields is not set as expected")        
00080     def test_after(self):
00081         resp = self._test(SERVICE_AFTER, EmptyReqSrv,
00082                           EmptyReqSrvRequest())
00083         self.assertEquals(FAKE_SECRET, resp.fake_secret, 
00084                           "fake_secret fields is not set as expected")        
00085         
00086 if __name__ == '__main__':
00087     if '--before' in sys.argv:
00088         service_before()
00089     elif '--after' in sys.argv:
00090         service_after()
00091     else:
00092         rostest.run(PKG, 'rospy_service_decl_order', TestServiceOrder, sys.argv)


test_rospy
Author(s): Ken Conley
autogenerated on Tue Mar 7 2017 03:45:43