[test]Add test for Python - Node.js client/service interaction

Author: qiuzhong

test/publisher_msg_colorrgba.js

@@ -31,7 +31,7 @@ rclnodejs.init().then(() => {
   }, 100);
 
   rclnodejs.spin(node);
-  process.on('message', (m) => {
+  process.on('SIGINT', (m) => {
     clearInterval(timer);
     node.destroy();
     rclnodejs.shutdown();

test/publisher_msg_header.js

@@ -34,7 +34,7 @@ rclnodejs.init().then(() => {
   }, 100);
 
   rclnodejs.spin(node);
-  process.on('message', (m) => {
+  process.on('SIGINT', (m) => {
     clearInterval(timer);
     node.destroy();
     rclnodejs.shutdown();

test/publisher_msg_jointstate.js

@@ -44,7 +44,7 @@ rclnodejs.init().then(() => {
   }, 100);
 
   rclnodejs.spin(node);
-  process.on('message', (m) => {
+  process.on('SIGINT', (m) => {
     clearInterval(timer);
     node.destroy();
     rclnodejs.shutdown();

test/py/client.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+# Copyright (c) 2017 Intel Corporation. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http:#www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+import rclpy
+from time import sleep
+from std_msgs.msg import String
+from example_interfaces.srv import AddTwoInts
+import signal
+
+node = None
+
+def cleanup():
+  global node
+  node.destroy_node()
+  rclpy.shutdown()
+
+def handler(signum, frame):
+  cleanup()
+  sys.exit(0)
+
+def callback(response):
+  print(response.sum)
+
+def main():
+  global node
+  signal.signal(signal.SIGINT, handler)
+
+  rclpy.init()
+  node = rclpy.create_node('add_client')
+  client = node.create_client(AddTwoInts, 'js_py_add_service')
+  request = AddTwoInts.Request()
+  request.a = 1
+  request.b = 2
+
+  client.call(request)
+  client.wait_for_future()
+  print(client.response.sum)
+
+  cleanup()
+
+if __name__ == '__main__':
+  main()

test/py/service.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+# Copyright (c) 2017 Intel Corporation. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http:#www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+import rclpy
+from time import sleep
+from std_msgs.msg import String
+from example_interfaces.srv import AddTwoInts
+import signal
+
+node = None
+
+def cleanup():
+  global node
+  node.destroy_node()
+  rclpy.shutdown()
+
+def handler(signum, frame):
+  cleanup()
+  sys.exit(0)
+
+def callback(request, response):
+  response.sum = request.a + request.b
+  return response
+
+def main():
+  global node
+  signal.signal(signal.SIGINT, handler)
+
+  rclpy.init()
+  node = rclpy.create_node('add_service')
+  service = node.create_service(AddTwoInts, 'py_js_add_service', callback)
+  while rclpy.ok():
+    rclpy.spin_once(node)
+
+  cleanup()
+
+if __name__ == '__main__':
+  main()

test/test-cross-lang.js

@@ -124,4 +124,59 @@ describe('Cross-language interaction', function() {
       rclnodejs.spin(node);
     });
   });
+
+  describe('Node.js client', function() {
+    it('Node.js client should work with Python service', function(done) {
+      var node = rclnodejs.createNode('js_add_client');
+      const AddTwoInts = rclnodejs.require('example_interfaces').srv.AddTwoInts;
+      var destroy = false;
+
+      var pyService = utils.launchPythonProcess([`${__dirname}/py/service.py`]);
+      var client = node.createClient(AddTwoInts, 'py_js_add_service');
+      let request = new AddTwoInts.Request();
+      request.a = 1;
+      request.b = 2;
+
+      var timer = setInterval(() => {
+        client.sendRequest(request, (response) => {
+          if (!destroy) {
+            assert.deepStrictEqual(response.sum, 3);
+            clearInterval(timer);
+            node.destroy();
+            pyService.kill('SIGINT');
+            destroy = true;
+            done();
+          }      
+        });
+      }, 100);
+
+      rclnodejs.spin(node);
+    });
+  });
+  
+  describe('Node.js service', function() {
+    it('Node.js service should work with Python client', function(done) {
+      var node = rclnodejs.createNode('js_add_service');
+      const AddTwoInts = rclnodejs.require('example_interfaces').srv.AddTwoInts;
+      var destroy = false;
+
+      var service = node.createService(AddTwoInts, 'js_py_add_service', (request, response) => {
+        assert.deepStrictEqual(typeof request.a, 'number');
+        assert.deepStrictEqual(typeof request.b, 'number');
+        response.sum = request.a + request.b;
+        return response;
+      });
+      rclnodejs.spin(node);
+
+      var pyClient = utils.launchPythonProcess([`${__dirname}/py/client.py`]);
+      pyClient.stdout.on('data', function(data) {
+        assert.deepEqual(parseInt(data, 10), 3);
+        if (!destroy) {
+          node.destroy();
+          destroy = true;
+          done();
+        }
+      });
+    });
+  });
 });