Test fixes

Author: LaurieCheers-unity

src/ros_tcp_endpoint/unity_service.py

@@ -34,7 +34,7 @@ def __init__(self, topic, service_class, tcp_server, queue_size=10):
             queue_size:    Max number of entries to maintain in an outgoing queue
         """
         strippedTopic = re.sub("[^A-Za-z0-9_]+", "", topic)
-        node_name = "{}_service".format(strippedTopic)
+        self.node_name = "{}_service".format(strippedTopic)
 
         self.topic = topic
         self.service_class = service_class

test/test_subscriber.py

@@ -7,7 +7,7 @@
 def test_subscriber_send(mock_ros):
     mock_tcp_server = mock.Mock()
     subscriber = RosSubscriber("color", mock.Mock(), mock_tcp_server)
-    assert subscriber.node_name == "color_subscriber"
+    assert subscriber.node_name == "color_RosSubscriber"
     subscriber.send("test data")
     mock_tcp_server.send_unity_message.assert_called_once()
 

test/test_tcp_sender.py

@@ -6,7 +6,8 @@
 
 @mock.patch("ros_tcp_endpoint.tcp_sender.rospy")
 def test_tcp_sender_constructor(mock_ros):
-    tcp_sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender()
+    server = TcpServer(node_name="test-tcp-server", tcp_ip="127.0.0.1", tcp_port=10000)
+    tcp_sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender(server)
     assert tcp_sender.sender_id == 1
     assert tcp_sender.time_between_halt_checks == 5
     assert tcp_sender.queue == None
@@ -26,7 +27,8 @@ def test_tcp_sender_constructor(mock_ros):
 
 @mock.patch.object(ros_tcp_endpoint.client.ClientThread, "serialize_message")
 def test_send_message_should_serialize_message(mock_serialize_msg):
-    sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender()
+    server = TcpServer(node_name="test-tcp-server", tcp_ip="127.0.0.1", tcp_port=10000)
+    sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender(server)
     sender.queue = queue.Queue()
     sender.send_unity_message("test topic", "test msg")
     mock_serialize_msg.assert_called_once()
@@ -44,15 +46,17 @@ def test_send_message_should_serialize_message(mock_serialize_msg):
 
 @mock.patch("ros_tcp_endpoint.thread_pauser.ThreadPauser")
 def test_send_unity_service_response_should_resume(mock_thread_pauser_class):
-    sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender()
+    server = TcpServer(node_name="test-tcp-server", tcp_ip="127.0.0.1", tcp_port=10000)
+    sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender(server)
     thread_pauser = mock_thread_pauser_class()
     sender.services_waiting = {"moveit": thread_pauser}
     sender.send_unity_service_response("moveit", "test data")
     thread_pauser.resume_with_result.assert_called_once()
 
 
 def test_start_sender_should_increase_sender_id():
-    sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender()
+    server = TcpServer(node_name="test-tcp-server", tcp_ip="127.0.0.1", tcp_port=10000)
+    sender = ros_tcp_endpoint.tcp_sender.UnityTcpSender(server)
     init_sender_id = 1
     assert sender.sender_id == init_sender_id
     sender.start_sender(mock.Mock(), mock.Mock())