def custom__handle_request(self, transport, request): # pragma: no cover
import struct
from rospy.impl.tcpros_service import convert_return_to_response
from rospy.service import ServiceException
try:
# convert return type to response Message instance
response = convert_return_to_response(self.handler(request), self.response_class)
self.seq += 1
# ok byte
transport.write_buff.write(struct.pack('<B', 1))
transport.send_message(response, self.seq)
except ServiceException as e:
rospy.core.rospydebug("handler raised ServiceException: %s" % e)
self._write_service_error(transport, "service cannot process request: %s" % e)
except Exception as e:
# rospy.logerr("Error processing request: %s\n%s" % (e, traceback.print_exc()))
self._write_service_error(transport, "error processing request: %s" % e)
def custom__handle_request(self, transport, request): # pragma: no cover
import struct
from rospy.impl.tcpros_service import convert_return_to_response
from rospy.service import ServiceException
try:
# convert return type to response Message instance
response = convert_return_to_response(self.handler(request), self.response_class)
self.seq += 1
# ok byte
transport.write_buff.write(struct.pack('<B', 1))
transport.send_message(response, self.seq)
except ServiceException as e:
rospy.core.rospydebug("handler raised ServiceException: %s" % e)
self._write_service_error(transport, "service cannot process request: %s" % e)
except Exception as e:
# rospy.logerr("Error processing request: %s\n%s" % (e, traceback.print_exc()))
self._write_service_error(transport, "error processing request: %s" % e)
def test_convert_return_to_response(self):
import rospy
from rospy.impl.tcpros_service import convert_return_to_response
from test_rosmaster.srv import AddTwoIntsResponse
cls = AddTwoIntsResponse
v = cls(3)
# test various ways that a user could reasonable return a
# value for a single-arg message. This is actually our hardest
# case.
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response(3, cls))
self.assertEquals(v, convert_return_to_response((3), cls))
self.assertEquals(v, convert_return_to_response([3], cls))
self.assertEquals(v, convert_return_to_response({'sum': 3}, cls))
for bad in [[1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s" % str(bad))
except rospy.ServiceException:
pass
# test multi-arg services
from test_rospy.srv import MultipleAddTwoIntsResponse
cls = MultipleAddTwoIntsResponse
v = cls(1, 2)
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response((1, 2), cls))
self.assertEquals(v, convert_return_to_response([1, 2], cls))
self.assertEquals(v, convert_return_to_response({
'ab': 1,
'cd': 2
}, cls))
for bad in [1, AddTwoIntsResponse(), [1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s" % str(bad))
except rospy.ServiceException:
pass
# test response with single, array field
from test_rospy.srv import ListReturnResponse
cls = ListReturnResponse
v = cls([1, 2, 3])
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response(((1, 2, 3), ), cls))
self.assertEquals(v, convert_return_to_response(([1, 2, 3], ), cls))
self.assertEquals(v, convert_return_to_response([[1, 2, 3]], cls))
self.assertEquals(v,
convert_return_to_response({'abcd': [1, 2, 3]}, cls))
for bad in [[1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s" % str(bad))
except rospy.ServiceException:
pass
# test with empty response
from test_rospy.srv import EmptySrvResponse
cls = EmptySrvResponse
v = cls()
# - only valid return values are empty list, empty dict and a response instance
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response([], cls))
self.assertEquals(v, convert_return_to_response({}, cls))
# #2185: currently empty does not do any checking whatsoever,
# disabling this test as it is not convert()s fault
if 0:
for bad in [1, AddTwoIntsResponse(), [1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s" % str(bad))
except rospy.ServiceException:
pass
def test_convert_return_to_response(self):
import rospy
from rospy.impl.tcpros_service import convert_return_to_response
from test_ros.srv import AddTwoIntsResponse
cls = AddTwoIntsResponse
v = cls(3)
# test various ways that a user could reasonable return a
# value for a single-arg message. This is actually our hardest
# case.
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response(3, cls))
self.assertEquals(v, convert_return_to_response((3), cls))
self.assertEquals(v, convert_return_to_response([3], cls))
self.assertEquals(v, convert_return_to_response({'sum':3}, cls))
for bad in [[1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s"%str(bad))
except rospy.ServiceException:
pass
# test multi-arg services
from test_rospy.srv import MultipleAddTwoIntsResponse
cls = MultipleAddTwoIntsResponse
v = cls(1, 2)
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response((1, 2), cls))
self.assertEquals(v, convert_return_to_response([1, 2], cls))
self.assertEquals(v, convert_return_to_response({'ab':1, 'cd': 2}, cls))
for bad in [1, AddTwoIntsResponse(), [1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s"%str(bad))
except rospy.ServiceException:
pass
# test response with single, array field
from test_rospy.srv import ListReturnResponse
cls = ListReturnResponse
v = cls([1, 2, 3])
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response(((1, 2, 3),), cls))
self.assertEquals(v, convert_return_to_response(([1, 2, 3],), cls))
self.assertEquals(v, convert_return_to_response([[1, 2, 3]], cls))
self.assertEquals(v, convert_return_to_response({'abcd':[1,2,3]}, cls))
for bad in [[1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s"%str(bad))
except rospy.ServiceException:
pass
# test with empty response
from test_rospy.srv import EmptySrvResponse
cls = EmptySrvResponse
v = cls()
# - only valid return values are empty list, empty dict and a response instance
self.assertEquals(v, convert_return_to_response(v, cls))
self.assertEquals(v, convert_return_to_response([], cls))
self.assertEquals(v, convert_return_to_response({}, cls))
# #2185: currently empty does not do any checking whatsoever,
# disabling this test as it is not convert()s fault
if 0:
for bad in [1, AddTwoIntsResponse(), [1, 2, 3], {'fake': 1}]:
try:
convert_return_to_response(bad, cls)
self.fail("should have raised: %s"%str(bad))
except rospy.ServiceException:
pass
