test_client_connection_header.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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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 Sat Dec 28 2013 17:34:14