def test_get_set_service_manager(self):
from rospy.impl.registration import get_service_manager, set_service_manager
# rospy initialization sets this, but it is out of scope of
# rospy.impl.registrations to test its value
try:
orig = get_service_manager()
self.assert_(orig is not None)
class ServiceManager(object): pass
x = ServiceManager()
# currently untyped
set_service_manager(x)
self.assertEquals(x, get_service_manager())
set_service_manager(None)
self.assert_(get_service_manager() is None)
finally:
set_service_manager(orig)
def test_get_set_service_manager(self):
from rospy.impl.registration import get_service_manager, set_service_manager
# rospy initialization sets this, but it is out of scope of
# rospy.impl.registrations to test its value
try:
orig = get_service_manager()
self.assert_(orig is not None)
class ServiceManager(object):
pass
x = ServiceManager()
# currently untyped
set_service_manager(x)
self.assertEquals(x, get_service_manager())
set_service_manager(None)
self.assert_(get_service_manager() is None)
finally:
set_service_manager(orig)
if err:
raise ServiceException(err)
def unregister(self, resolved_service_name, service):
"""
Unregister service with L{ServiceManager} and ROS Master
@param resolved_service_name: name of service
@type resolved_service_name: str
@param service: service implementation
@type service: L{_Service}
"""
with self.lock:
curr = self.map.get(resolved_service_name, None)
if curr == service:
del self.map[resolved_service_name]
# NOTE: this call can potentially take a long time under lock
self.registration_listeners.notify_removed(resolved_service_name, service.uri, Registration.SRV)
def get_service(self, resolved_service_name):
"""
@param resolved_service_name: name of service
@type resolved_service_name: str
@return: service implementation
@rtype: _Service
"""
return self.map.get(resolved_service_name, None)
set_service_manager(ServiceManager())
def unregister(self, resolved_service_name, service):
"""
Unregister service with L{ServiceManager} and ROS Master
@param resolved_service_name: name of service
@type resolved_service_name: str
@param service: service implementation
@type service: L{_Service}
"""
with self.lock:
curr = self.map.get(resolved_service_name, None)
if curr == service:
del self.map[resolved_service_name]
# NOTE: this call can potentially take a long time under lock
self.registration_listeners.notify_removed(resolved_service_name,
service.uri,
Registration.SRV)
def get_service(self, resolved_service_name):
"""
@param resolved_service_name: name of service
@type resolved_service_name: str
@return: service implementation
@rtype: _Service
"""
return self.map.get(resolved_service_name, None)
set_service_manager(ServiceManager())
