def test_populate_request_args(self):
# Test empty messages
for srv_type in ["TestEmpty", "TestResponseOnly"]:
cls = ros_loader.get_service_class("rosbridge_library/" + srv_type)
for args in [[], {}, None]:
# Should throw no exceptions
services.args_to_service_request_instance(
"", cls._request_class(), args)
# Test msgs with data message
for srv_type in ["TestRequestOnly", "TestRequestAndResponse"]:
cls = ros_loader.get_service_class("rosbridge_library/" + srv_type)
for args in [[3], {"data": 3}]:
# Should throw no exceptions
services.args_to_service_request_instance(
"", cls._request_class(), args)
self.assertRaises(FieldTypeMismatchException,
services.args_to_service_request_instance, "",
cls._request_class(), ["hello"])
# Test message with multiple fields
cls = ros_loader.get_service_class(
"rosbridge_library/TestMultipleRequestFields")
for args in [[3, 3.5, "hello", False], {
"int": 3,
"float": 3.5,
"string": "hello",
"bool": False
}]:
# Should throw no exceptions
services.args_to_service_request_instance("", cls._request_class(),
args)
def call_service(node_handle, service, args=None):
# Given the service name, fetch the type and class of the service,
# and a request instance
# This should be equivalent to rospy.resolve_name.
service = expand_topic_name(service, node_handle.get_name(),
node_handle.get_namespace())
service_names_and_types = dict(node_handle.get_service_names_and_types())
service_type = service_names_and_types.get(service)
if service_type is None:
raise InvalidServiceException(service)
# service_type is a tuple of types at this point; only one type is supported.
if len(service_type) > 1:
node_handle.get_logger().warning(
'More than one service type detected: {}'.format(service_type))
service_type = service_type[0]
service_class = get_service_class(service_type)
inst = get_service_request_instance(service_type)
# Populate the instance with the provided args
args_to_service_request_instance(service, inst, args)
client = node_handle.create_client(service_class, service)
future = client.call_async(inst)
spin_until_future_complete(node_handle, future)
if future.result() is not None:
# Turn the response into JSON and pass to the callback
json_response = extract_values(future.result())
else:
raise Exception(future.exception())
return json_response
def __init__(self, service_name, service_type, protocol):
self.service_name = service_name
self.service_type = service_type
self.protocol = protocol
# setup the service
self.service_handle = rospy.Service(service_name,
get_service_class(service_type),
self.handle_request)
def __init__(self, service_name, service_type, protocol):
self.active_requests = 0
self.shutdown_requested = False
self.lock = Lock()
self.service_name = service_name
self.service_type = service_type
self.protocol = protocol
# setup the service
self.service_handle = rospy.Service(service_name, get_service_class(service_type), self.handle_request)
def __init__(self, service_name, service_type, protocol):
self.active_requests = 0
self.shutdown_requested = False
self.lock = Lock()
self.service_name = service_name
self.service_type = service_type
self.protocol = protocol
# setup the service
self.service_handle = rospy.Service(service_name, get_service_class(service_type), self.handle_request)
def test_irregular_servicenames(self):
irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
"/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
"roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
"roscpp//GetLoggers//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
def test_populate_request_args(self):
# Test empty messages
for srv_type in ["TestEmpty", "TestResponseOnly"]:
cls = ros_loader.get_service_class("rosbridge_library/" + srv_type)
for args in [[], {}, None]:
# Should throw no exceptions
services.args_to_service_request_instance("", cls._request_class(), args)
# Test msgs with data message
for srv_type in ["TestRequestOnly", "TestRequestAndResponse"]:
cls = ros_loader.get_service_class("rosbridge_library/" + srv_type)
for args in [[3], {"data": 3}]:
# Should throw no exceptions
services.args_to_service_request_instance("", cls._request_class(), args)
self.assertRaises(FieldTypeMismatchException, services.args_to_service_request_instance, "", cls._request_class(), ["hello"])
# Test message with multiple fields
cls = ros_loader.get_service_class("rosbridge_library/TestMultipleRequestFields")
for args in [[3, 3.5, "hello", False], {"int": 3, "float": 3.5, "string": "hello", "bool": False}]:
# Should throw no exceptions
services.args_to_service_request_instance("", cls._request_class(), args)
def test_irregular_servicenames(self):
irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
"/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
"roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
"roscpp//GetLoggers//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_response_instance(x), None)
def test_srv_cache(self):
common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
"std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
"sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
"topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
"rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
for x in common:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
self.assertTrue(x in ros_loader._loaded_srvs)
def test_srv_cache(self):
common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
"std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
"sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
"topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
"rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
for x in common:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_response_instance(x), None)
self.assertTrue(x in ros_loader._loaded_srvs)
def spawn_ROS_service(self, service_module, service_type, service_name, client_id):
# import service type for ros-service that we want to register in ros
service_class = get_service_class(service_module+'/'+service_type)
# register service in ros
self.ros_serviceproxy = rospy.Service( service_name, service_class, self.handle_service_request)
# TODO: check if service successfully registered in ros. current state is that rosbridge "thinks" service is registered, but calls will fail
# myServiceManager = rospy.service.ServiceManager()
# myServiceManager.register(service_name, self.ros_serviceproxy)
# print myServiceManager.get_services()
# log service registration
log_msg = "registered service: " + self.service_name
self.protocol.log("info", log_msg)
self.spawned = True
def spawn_ROS_service(self, service_module, service_type, service_name,
client_id):
# import service type for ros-service that we want to register in ros
service_class = get_service_class(service_module + '/' + service_type)
# register service in ros
self.ros_serviceproxy = rospy.Service(service_name, service_class,
self.handle_service_request)
# TODO: check if service successfully registered in ros. current state is that rosbridge "thinks" service is registered, but calls will fail
# myServiceManager = rospy.service.ServiceManager()
# myServiceManager.register(service_name, self.ros_serviceproxy)
# print myServiceManager.get_services()
# log service registration
log_msg = "registered service: " + self.service_name
self.protocol.log("info", log_msg)
self.spawned = True
def call_service(service, args=None):
# Given the service name, fetch the type and class of the service,
# and a request instance
service_type = get_service_type(str(service))
if service_type is None:
raise InvalidServiceException(service)
service_class = get_service_class(service_type)
inst = get_service_request_instance(service_type)
# Populate the instance with the provided args
args_to_service_request_instance(service, inst, args)
# Call the service
proxy = ServiceProxy(service, service_class)
response = proxy.call(inst)
# Turn the response into JSON and pass to the callback
json_response = extract_values(response)
return json_response
def call_service(service, args=None):
# Given the service name, fetch the type and class of the service,
# and a request instance
service_type = get_service_type(str(service))
if service_type is None:
raise InvalidServiceException(service)
service_class = get_service_class(service_type)
inst = get_service_request_instance(service_type)
# Populate the instance with the provided args
args_to_service_request_instance(service, inst, args)
# Call the service
proxy = ServiceProxy(service, service_class)
response = proxy.call(inst)
# Turn the response into JSON and pass to the callback
json_response = extract_values(response)
return json_response
def __init__(self, name, srv_type):
self.name = name
self.srvClass = ros_loader.get_service_class(srv_type)
self.service = rospy.Service(name, self.srvClass, self.callback)
def __init__(self, service_name, service_type, protocol):
self.service_name = service_name
self.service_type = service_type
self.protocol = protocol
# setup the service
self.service_handle = rospy.Service(service_name, get_service_class(service_type), self.handle_request)
def __init__(self, name, srv_type):
self.name = name
self.srvClass = ros_loader.get_service_class(srv_type)
self.service = rospy.Service(name, self.srvClass, self.callback)
