def __init__(self):
self.services = {}
self.service_manager = ServiceManager(
registration_listeners=RegistrationListeners())
self.topic_manager = rospy.topics._TopicManager()
self.subs_internal = {}
self.external_node = None
self.external_tcpros = None
def test_ServiceManager(self):
class MockService(rospy.service._Service):
def __init__(self, name, service_class, uri):
rospy.service._Service.__init__(self, name, service_class)
self.uri = uri
from rospy.service import ServiceManager
sm = ServiceManager()
self.assertEquals({}, sm.map)
try:
sm.lock.acquire()
finally:
sm.lock.release()
self.assertEquals([], sm.get_services())
sm.unregister_all()
self.assertEquals([], sm.get_services())
# test actual registration
mock = MockService('/serv', MockServiceClass, "rosrpc://uri:1")
mock2 = MockService('/serv', MockServiceClass, "rosrpc://uri:2")
sm.register('/serv', mock)
self.assertEquals(mock, sm.get_service('/serv'))
self.assertEquals([('/serv', mock.uri)], sm.get_services())
try:
sm.register('/serv', mock2)
self.fail("duplicate reg should fail")
except rospy.service.ServiceException:
pass
sm.unregister_all()
self.assertEquals([], sm.get_services())
# - register two services
sm.register('/serv', mock)
sm.unregister('/serv', mock2)
self.assertEquals(mock, sm.get_service('/serv'))
sm.register('/serv2', mock2)
self.assertEquals(mock, sm.get_service('/serv'))
self.assertEquals(mock2, sm.get_service('/serv2'))
self.assert_(('/serv', mock.uri) in sm.get_services())
self.assert_(('/serv2', mock2.uri) in sm.get_services())
sm.unregister('/serv', mock)
self.assertEquals([('/serv2', mock2.uri)], sm.get_services())
sm.unregister('/serv2', mock2)
self.assertEquals([], sm.get_services())
