def replier(service_name, number_of_cycles):
from service_fixtures import get_test_srv
import rclpy
service_pkg = 'test_communication'
module = importlib.import_module(service_pkg + '.srv')
srv_mod = getattr(module, service_name)
rclpy.init(args=[])
node = rclpy.create_node('replier')
srv_fixtures = get_test_srv(service_name)
chatter_callback = functools.partial(replier_callback,
srv_fixtures=srv_fixtures)
node.create_service(srv_mod, 'test_service_' + service_name,
chatter_callback)
spin_count = 1
print('replier: beginning loop')
while rclpy.ok() and spin_count < number_of_cycles:
rclpy.spin_once(node, timeout_sec=2)
spin_count += 1
print('spin_count: ' + str(spin_count))
node.destroy_node()
rclpy.shutdown()
def replier(service_name, number_of_cycles):
from service_fixtures import get_test_srv
import rclpy
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
from rclpy.qos import qos_profile_services_default
service_pkg = 'test_communication'
module = importlib.import_module(service_pkg + '.srv')
srv_mod = getattr(module, service_name)
select_rmw_implementation(os.environ['RCLPY_IMPLEMENTATION'])
rclpy.init([])
node = rclpy.create_node('replier')
srv_fixtures = get_test_srv(service_name)
chatter_callback = functools.partial(
replier_callback, srv_fixtures=srv_fixtures)
node.create_service(
srv_mod, 'test_service_' + service_name, chatter_callback,
qos_profile_services_default)
spin_count = 1
print('replier: beginning loop')
while rclpy.ok() and spin_count < number_of_cycles:
rclpy.spin_once(node, 2)
spin_count += 1
print('spin_count: ' + str(spin_count))
rclpy.shutdown()
def requester(service_name, number_of_cycles):
from service_fixtures import get_test_srv
import rclpy
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
from rclpy.qos import qos_profile_services_default
service_pkg = 'test_communication'
module = importlib.import_module(service_pkg + '.srv')
srv_mod = getattr(module, service_name)
select_rmw_implementation(os.environ['RCLPY_IMPLEMENTATION'])
rclpy.init([])
node = rclpy.create_node('requester')
srv_fixtures = get_test_srv(service_name)
client = node.create_client(srv_mod, 'test_service_' + service_name,
qos_profile_services_default)
spin_count = 1
received_replies = []
print('requester: beginning loop')
while rclpy.ok() and spin_count < number_of_cycles:
for req, resp in srv_fixtures:
client.call(req)
client.wait_for_future()
assert repr(client.response) == repr(resp), \
'received unexpected response %r\n\nwas expecting %r' % (client.response, resp)
print('received reply #%d of %d' %
(srv_fixtures.index([req, resp]) + 1, len(srv_fixtures)))
received_replies.append(resp)
spin_count += 1
print('spin_count: ' + str(spin_count))
break
rclpy.shutdown()
assert len(received_replies) == len(srv_fixtures), \
'Should have received %d responsed from replier' % len(srv_fixtures)
print('everything went well !')