append spawn objects

src/iiwa_utils/test/test_object_spawner_service.py

@@ -0,0 +1,30 @@
+"""Exercise our service requests with the installed Jazzy message schema."""
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+import pytest
+
+from iiwa_utils import object_spawner
+
+
+@pytest.mark.parametrize('success,completed', [(True, True), (False, True), (True, False)])
+def test_service_schema_and_failure_stop(monkeypatch, success, completed):
+    node = Mock()
+    node.declare_parameter.side_effect = [SimpleNamespace(value='{}'),
+                                         SimpleNamespace(value='0 0 0'),
+                                         SimpleNamespace(value='0 0 1 0')]
+    monkeypatch.setattr(object_spawner, 'build_objects', lambda *args: ['Solid {}', 'Solid {}'])
+    monkeypatch.setattr(object_spawner.rclpy, 'spin_until_future_complete', lambda *a, **kw: None)
+    client = node.create_client.return_value
+    client.wait_for_service.return_value = True
+    future = client.call_async.return_value
+    future.done.return_value = completed
+    future.result.return_value = SimpleNamespace(success=success)
+    if success and completed:
+        object_spawner.spawn_objects(node)
+        assert client.call_async.call_count == 2
+        assert client.call_async.call_args.args[0].data == 'Solid {}'
+    else:
+        with pytest.raises(RuntimeError):
+            object_spawner.spawn_objects(node)
+        assert client.call_async.call_count == 1