test_client_connection_header.py
Go to the documentation of this file.
1 #!/usr/bin/env python
2 # Software License Agreement (BSD License)
3 #
4 # Copyright (c) 2008, Willow Garage, Inc.
5 # All rights reserved.
6 #
7 # Redistribution and use in source and binary forms, with or without
8 # modification, are permitted provided that the following conditions
9 # are met:
10 #
11 # * Redistributions of source code must retain the above copyright
12 # notice, this list of conditions and the following disclaimer.
13 # * Redistributions in binary form must reproduce the above
14 # copyright notice, this list of conditions and the following
15 # disclaimer in the documentation and/or other materials provided
16 # with the distribution.
17 # * Neither the name of Willow Garage, Inc. nor the names of its
18 # contributors may be used to endorse or promote products derived
19 # from this software without specific prior written permission.
20 #
21 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 # POSSIBILITY OF SUCH DAMAGE.
33 #
34 # Revision $Id: add_two_ints_client 3804 2009-02-11 02:16:00Z rob_wheeler $
35 
36 ## Extended version of add_two_int_client that shows how to use
37 ## connection header to pass in metadata to service.
38 
39 from __future__ import print_function
40 
41 PKG = 'rospy_tutorials'
42 NAME = 'test_client_connection_header'
43 
44 import sys
45 import unittest
46 
47 from rospy_tutorials.srv import AddTwoInts
48 import rospy
49 import rostest
50 
51 
52 class TestClientConnectionHeader(unittest.TestCase):
53  def __init__(self, *args):
54  super(TestClientConnectionHeader, self).__init__(*args)
55  self.success = False
56 
57  def test_header(self):
58  import random
59  x = random.randint(0, 1000)
60  y = random.randint(0, 1000)
61 
62  rospy.wait_for_service('add_two_ints')
63 
64  try:
65  # initialize ServiceProxy with extra header information.
66  # header is only exchanged on initial connection
67  metadata = { 'cookies' : 'peanut butter' }
68  add_two_ints = rospy.ServiceProxy('add_two_ints', AddTwoInts, headers=metadata)
69 
70  print("Requesting %s+%s with cookies=%s" % (x, y, metadata['cookies']))
71 
72  # simplified style
73  resp = add_two_ints(x, y)
74  print("Server's connection headers were", resp._connection_header)
75  self.assert_('callerid' in resp._connection_header)
76 
77  return resp.sum
78  except rospy.ServiceException as e:
79  print("Service call failed: %s" % e)
80  raise #fail
81 
82 if __name__ == '__main__':
83  if '--node' in sys.argv:
84  # run as a normal node instead (test of server_connection_header)
85  # the test here is to send the cookies header, which the server test node looks for
86  rospy.init_node('sch_test_client', anonymous=True)
87  # NOTE different service name
88  service_name = 'add_two_ints_header_test'
89  rospy.wait_for_service(service_name)
90  metadata = { 'cookies' : 'peanut butter' }
91  add_two_ints = rospy.ServiceProxy(service_name, AddTwoInts, headers=metadata)
92  try:
93  while not rospy.is_shutdown():
94  resp = add_two_ints(1, 2)
95  # call at 10hz until test is over
96  rospy.sleep(0.1)
97  except rospy.ServiceException as e:
98  pass # happens when test is over
99  else:
100  rostest.rosrun(PKG, NAME, TestClientConnectionHeader, sys.argv)
101 


rospy_tutorials
Author(s): Ken Conley
autogenerated on Fri Jun 7 2019 22:01:45