def test_call_service_works(self):
# First, call the service the 'proper' way
p = rospy.ServiceProxy("/rosout/get_loggers", GetLoggers)
ret = p()
proto = Protocol("test_call_service_works")
s = CallService(proto)
msg = loads(
dumps({
"op": "call_service",
"service": "/rosout/get_loggers"
}))
received = {"msg": None}
def cb(msg, cid=None):
received["msg"] = msg
proto.send = cb
s.call_service(msg)
time.sleep(0.5)
for x, y in zip(ret.loggers, received["msg"]["values"]["loggers"]):
self.assertEqual(x.name, y["name"])
self.assertEqual(x.level, y["level"])
def test_call_service_works(self):
# First, call the service the 'proper' way
p = rospy.ServiceProxy("/rosout/get_loggers", GetLoggers)
ret = p()
proto = Protocol("test_call_service_works")
s = CallService(proto)
msg = loads(dumps({"op": "call_service", "service": "/rosout/get_loggers"}))
received = {"msg": None}
def cb(msg, cid=None):
received["msg"] = msg
proto.send = cb
s.call_service(msg)
time.sleep(0.5)
self.assertTrue(received["msg"]["result"])
for x, y in zip(ret.loggers, received["msg"]["values"]["loggers"]):
self.assertEqual(x.name, y["name"])
self.assertEqual(x.level, y["level"])
def test_call_service_fail(self):
# Dummy service that instantly fails
service_server = rospy.Service("set_bool_fail", SetBool,
lambda req: None)
proto = Protocol("test_call_service_fail")
s = CallService(proto)
send_msg = loads(
dumps({
"op": "call_service",
"service": rospy.get_name() + "/set_bool_fail",
"args": '[ true ]'
}))
received = {"msg": None, "arrived": False}
def cb(msg, cid=None):
received["msg"] = msg
received["arrived"] = True
proto.send = cb
s.call_service(send_msg)
timeout = 5.0
start = rospy.Time.now()
while rospy.Time.now() - start < rospy.Duration(timeout):
if received["arrived"]:
break
time.sleep(0.1)
self.assertFalse(received["msg"]["result"])
def test_subscribe_works(self):
proto = Protocol("test_subscribe_works")
sub = subscribe.Subscribe(proto)
topic = "/test_subscribe_works"
msg = String()
msg.data = "test test_subscribe_works works"
msg_type = "std_msgs/String"
received = {"msg": None}
def send(outgoing):
received["msg"] = outgoing
proto.send = send
sub.subscribe(
loads(dumps({
"op": "subscribe",
"topic": topic,
"type": msg_type
})))
p = rospy.Publisher(topic, String)
time.sleep(0.25)
p.publish(msg)
time.sleep(0.25)
self.assertEqual(received["msg"]["msg"]["data"], msg.data)
def test_call_service_fail(self):
proto = Protocol("test_call_service_fail")
s = CallService(proto)
send_msg = loads(
dumps({
"op": "call_service",
"service": "/rosout/set_logger_level",
"args": '["ros", "invalid"]'
}))
received = {"msg": None, "arrived": False}
def cb(msg, cid=None):
received["msg"] = msg
received["arrived"] = True
proto.send = cb
s.call_service(send_msg)
timeout = 5.0
start = rospy.Time.now()
while rospy.Time.now() - start < rospy.Duration(timeout):
if received["arrived"]:
break
time.sleep(0.1)
self.assertFalse(received["msg"]["result"])
def test_call_service_fail(self):
proto = Protocol("test_call_service_fail")
s = CallService(proto)
send_msg = loads(dumps({"op": "call_service", "service": "/rosout/set_logger_level", "args": '["ros", "invalid"]'}))
received = {"msg": None}
def cb(msg, cid=None):
received["msg"] = msg
proto.send = cb
s.call_service(send_msg)
time.sleep(0.5)
self.assertFalse(received["msg"]["result"])
def test_call_service_fail(self):
proto = Protocol("test_call_service_fail")
s = CallService(proto)
send_msg = loads(dumps({"op": "call_service", "service": "/rosout/set_logger_level", "args": '["ros", "invalid"]'}))
received = {"msg": None}
def cb(msg, cid=None):
received["msg"] = msg
proto.send = cb
s.call_service(send_msg)
time.sleep(0.5)
self.assertFalse(received["msg"]["result"])
def test_call_service_works(self):
# Prepare to call the service the 'proper' way
p = rospy.ServiceProxy(rospy.get_name() + "/get_loggers", GetLoggers)
p.wait_for_service()
time.sleep(1.0)
proto = Protocol("test_call_service_works")
s = CallService(proto)
msg = loads(
dumps({
"op": "call_service",
"service": rospy.get_name() + "/get_loggers"
}))
received = {"msg": None, "arrived": False}
def cb(msg, cid=None):
received["msg"] = msg
received["arrived"] = True
proto.send = cb
s.call_service(msg)
timeout = 5.0
start = rospy.Time.now()
while rospy.Time.now() - start < rospy.Duration(timeout):
if received["arrived"]:
break
time.sleep(0.1)
# The rosbridge service call actually causes another logger to appear,
# so do the "regular" service call after that.
ret = p()
self.assertTrue(received["msg"]["result"])
for x, y in zip(ret.loggers, received["msg"]["values"]["loggers"]):
self.assertEqual(x.name, y["name"])
self.assertEqual(x.level, y["level"])
def test_subscribe_works(self):
proto = Protocol("test_subscribe_works")
sub = subscribe.Subscribe(proto)
topic = "/test_subscribe_works"
msg = String()
msg.data = "test test_subscribe_works works"
msg_type = "std_msgs/String"
received = {"msg": None}
def send(outgoing):
received["msg"] = outgoing
proto.send = send
sub.subscribe(loads(dumps({"op": "subscribe", "topic": topic, "type": msg_type})))
p = rospy.Publisher(topic, String)
time.sleep(0.25)
p.publish(msg)
time.sleep(0.25)
self.assertEqual(received["msg"]["msg"]["data"], msg.data)
def test_call_service_works(self):
# First, call the service the 'proper' way
p = rospy.ServiceProxy("/rosout/get_loggers", GetLoggers)
p.wait_for_service()
time.sleep(1.0)
ret = p()
proto = Protocol("test_call_service_works")
s = CallService(proto)
msg = loads(
dumps({
"op": "call_service",
"service": "/rosout/get_loggers"
}))
received = {"msg": None, "arrived": False}
def cb(msg, cid=None):
received["msg"] = msg
received["arrived"] = True
proto.send = cb
s.call_service(msg)
timeout = 5.0
start = rospy.Time.now()
while rospy.Time.now() - start < rospy.Duration(timeout):
if received["arrived"]:
break
time.sleep(0.1)
self.assertTrue(received["msg"]["result"])
for x, y in zip(ret.loggers, received["msg"]["values"]["loggers"]):
self.assertEqual(x.name, y["name"])
self.assertEqual(x.level, y["level"])
