def test_TCPServer(self):
from rospy.impl.tcpros_base import TCPServer
def handler(sock, addr):
pass
s = None
try:
s = TCPServer(handler)
self.assert_(s.port > 0)
addr, port = s.get_full_addr()
self.assert_(type(addr) == str)
self.assertEquals(handler, s.inbound_handler)
self.failIf(s.is_shutdown)
finally:
if s is not None:
s.shutdown()
self.assert_(s.is_shutdown)
def test_TCPServer(self):
from rospy.impl.tcpros_base import TCPServer
def handler(sock, addr):
pass
s = None
try:
s = TCPServer(handler)
self.assert_(s.port > 0)
addr, port = s.get_full_addr()
self.assert_(type(addr) == str)
self.assertEquals(handler, s.inbound_handler)
self.failIf(s.is_shutdown)
finally:
if s is not None:
s.shutdown()
self.assert_(s.is_shutdown)
PORT = 2048
inputs = []
def inbound_handler(sock, addr):
print "%s connected." % (str(addr))
t = TCPROSTransport(TestServerProtocol(), "testservice")
t.set_socket(sock, "client")
t.write_header()
t.read_header()
inputs.append(sock)
if __name__ == '__main__':
s = TCPServer(inbound_handler, PORT)
s.start()
while True:
inputready,outputready,exceptready = select.select(inputs, [], [], 1)
for s in inputready:
# s is really just a python socket, but let's use
# ROS to parse the message and write a response
t = TCPROSTransport(TestServerProtocol(), "testservice")
t.set_socket(s, "client")
try:
data = t.receive_once()
# Echo all messages
seq = 0
for msg in data:
