def test_rosservicewrapper_call(self, service_proxy_mock):
client = ROSCLEClient.ROSCLEClient(0)
# When everything is fine, the service should just be called
service_wrapper = ROSCLEClient.ROSCLEServiceWrapper(
'service_name', Empty, client)
self.assertEqual(client, service_wrapper.ros_cle_client)
service_wrapper()
self.assertEquals(service_wrapper.handler.call_count, 1)
# When something's wrong during the service call it should throw ROSCLEClientException
service_wrapper = ROSCLEClient.ROSCLEServiceWrapper(
'service_name', Empty, client, invalidate_on_failure=False)
service_wrapper.handler.side_effect = rospy.ServiceException()
self.assertRaises(ROSCLEClient.ROSCLEClientException, service_wrapper)
service_wrapper.handler.side_effect = rospy.exceptions.ROSInterruptException(
)
self.assertRaises(ROSCLEClient.ROSCLEClientException, service_wrapper)
# and invalidate the ROSCLEClient if asked to
service_wrapper = ROSCLEClient.ROSCLEServiceWrapper(
'service_name', Empty, client, invalidate_on_failure=True)
self.assertRaises(ROSCLEClient.ROSCLEClientException, service_wrapper)
def test_rosservicewrapper_constructor(self, service_proxy_mock):
# Case when the service is correctly subscribed
service_wrapper = ROSCLEClient.ROSCLEServiceWrapper('service_name', Empty, None)
self.assertEquals('service_name', service_proxy_mock.call_args[0][0])
self.assertIsInstance(service_proxy_mock.call_args[0][1], type(Empty))
args, kwargs = service_wrapper.handler.wait_for_service.call_args_list[0]
self.assertEquals(kwargs['timeout'], ROSCLEClient.ROSCLEServiceWrapper.ROS_SERVICE_TIMEOUT)
# Case when the service timeouts
service_proxy_mock.side_effect = rospy.ROSException()
self.assertRaises(ROSCLEClient.ROSCLEClientException,
ROSCLEClient.ROSCLEServiceWrapper, 'service_name', Empty, None)