test_task.py 文件源码

def test_services(self):

        '''
        Test varius services that aren'ts tested individually
        '''

        rospy.wait_for_service("mytask_step_name")
        proxy = rospy.ServiceProxy(
            "mytask_step_name",
            Message 
        )

        response = proxy(MessageRequest())
        self.assertEqual(response.value, 'load')

        proxy = rospy.ServiceProxy(
            "mytask_task_payload",
            TaskPayload 
        )

        response = proxy()
        self.assertEqual(response.status, TaskStatusRequest.RUNNING)
        self.assertFalse(response.did_fail)

        proxy = rospy.ServiceProxy(
            "mytask_next_step",
            NextStep 
        )

        response = proxy(status=TaskStepStatus.SUCCESS)
        self.assertEqual(response.name, 'say_hello')
        response = proxy(status=TaskStepStatus.FAILURE)
        self.assertEqual(response.name, 'abort')