test_client_connection_header.py
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00001 #!/usr/bin/env python
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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 from __future__ import print_function
00040 
00041 PKG = 'rospy_tutorials'
00042 NAME = 'test_client_connection_header'
00043 
00044 import sys
00045 import unittest
00046 
00047 from rospy_tutorials.srv import AddTwoInts
00048 import rospy
00049 import rostest
00050 
00051 
00052 class TestClientConnectionHeader(unittest.TestCase):
00053     def __init__(self, *args):
00054         super(TestClientConnectionHeader, self).__init__(*args)
00055         self.success = False
00056         
00057     def test_header(self):
00058         import random
00059         x = random.randint(0, 1000)
00060         y = random.randint(0, 1000)            
00061 
00062         rospy.wait_for_service('add_two_ints')
00063     
00064         try:
00065             # initialize ServiceProxy with extra header information.
00066             # header is only exchanged on initial connection
00067             metadata = { 'cookies' : 'peanut butter' } 
00068             add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata)
00069 
00070             print("Requesting %s+%s with cookies=%s" % (x, y, metadata['cookies']))
00071         
00072             # simplified style
00073             resp = add_two_ints(x, y)
00074             print("Server's connection headers were", resp._connection_header)
00075             self.assert_('callerid' in resp._connection_header)
00076 
00077             return resp.sum
00078         except rospy.ServiceException as e:
00079             print("Service call failed: %s" % e)
00080             raise #fail
00081         
00082 if __name__ == '__main__':
00083     if '--node' in sys.argv:
00084         # run as a normal node instead (test of server_connection_header)
00085         # the test here is to send the cookies header, which the server test node looks for
00086         rospy.init_node('sch_test_client', anonymous=True)
00087         # NOTE different service name
00088         service_name = 'add_two_ints_header_test'
00089         rospy.wait_for_service(service_name)
00090         metadata = { 'cookies' : 'peanut butter' } 
00091         add_two_ints = rospy.ServiceProxy(service_name, AddTwoInts, headers=metadata)
00092         try:
00093             while not rospy.is_shutdown():
00094                 resp = add_two_ints(1, 2)
00095                 # call at 10hz until test is over
00096                 rospy.sleep(0.1)
00097         except rospy.ServiceException as e:
00098             pass # happens when test is over
00099     else:
00100         rostest.rosrun(PKG, NAME, TestClientConnectionHeader, sys.argv)
00101 


rospy_tutorials
Author(s): Ken Conley
autogenerated on Thu Jun 6 2019 20:20:11