Merge and update service test to cover callback registration
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parent
bae71f0cad
commit
1b73e4be94
3 changed files with 182 additions and 107 deletions
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@ -22,13 +22,16 @@ class TestService(TraceTestCase):
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def __init__(self, *args) -> None:
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super().__init__(
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*args,
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session_name_prefix='session-test-service-creation',
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session_name_prefix='session-test-service',
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events_ros=[
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'ros2:rcl_node_init',
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'ros2:rcl_service_init',
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'ros2:rclcpp_service_callback_added',
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'ros2:rclcpp_callback_register',
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'ros2:callback_start',
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'ros2:callback_end',
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],
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nodes=['test_service'],
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nodes=['test_service_ping', 'test_service_pong'],
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)
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def test_all(self):
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@ -38,53 +41,206 @@ class TestService(TraceTestCase):
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# Check fields
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srv_init_events = self.get_events_with_name('ros2:rcl_service_init')
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callback_added_events = self.get_events_with_name('ros2:rclcpp_service_callback_added')
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callback_register_events = self.get_events_with_name('ros2:rclcpp_callback_register')
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start_events = self.get_events_with_name('ros2:callback_start')
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end_events = self.get_events_with_name('ros2:callback_end')
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for event in srv_init_events:
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self.assertValidHandle(event, ['service_handle', 'node_handle', 'rmw_service_handle'])
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self.assertStringFieldNotEmpty(event, 'service_name')
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for event in callback_added_events:
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self.assertValidHandle(event, ['service_handle', 'callback'])
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for event in callback_register_events:
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self.assertValidPointer(event, 'callback')
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self.assertStringFieldNotEmpty(event, 'symbol')
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for event in start_events:
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self.assertValidHandle(event, 'callback')
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# Should not be 1 for services (yet)
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self.assertFieldEquals(
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event,
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'is_intra_process',
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0,
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'invalid value for is_intra_process',
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)
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for event in end_events:
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self.assertValidHandle(event, 'callback')
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# Check that the test service name exists
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test_srv_init_events = self.get_events_with_procname('test_service', srv_init_events)
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event_service_names = self.get_events_with_field_value(
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# Check that the test services names exists
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ping_node_srv_init_events = self.get_events_with_procname(
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'test_service_ping',
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srv_init_events,
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)
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ping_node_test_srv_init_events = self.get_events_with_field_value(
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'service_name',
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'/the_service',
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test_srv_init_events,
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'/pong',
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ping_node_srv_init_events,
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)
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self.assertEqual(
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len(ping_node_test_srv_init_events),
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1,
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'none or more than 1 /pong service under the test_service_pong node',
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)
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pong_node_srv_init_events = self.get_events_with_procname(
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'test_service_pong',
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srv_init_events,
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)
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pong_node_test_srv_init_events = self.get_events_with_field_value(
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'service_name',
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'/ping',
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pong_node_srv_init_events,
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)
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self.assertGreaterEqual(
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len(event_service_names),
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len(pong_node_test_srv_init_events),
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1,
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'cannot find test service name',
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)
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# Check that the node handle matches the node_init event
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# Check that the service init events have a matching node handle (with node_init events)
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node_init_events = self.get_events_with_name('ros2:rcl_node_init')
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test_srv_node_init_events = self.get_events_with_procname(
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'test_service',
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node_init_events,
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)
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self.assertNumEventsEqual(
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test_srv_node_init_events,
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1,
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'none or more than 1 rcl_node_init event',
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)
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test_srv_node_init_event = test_srv_node_init_events[0]
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ping_node_test_srv_init_event = ping_node_test_srv_init_events[0]
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self.assertMatchingField(
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test_srv_node_init_event,
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ping_node_test_srv_init_event,
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'node_handle',
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'ros2:rcl_service_init',
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test_srv_init_events,
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None,
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node_init_events,
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False,
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)
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# Check that the service handles match
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test_event_srv_init = event_service_names[0]
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pong_node_test_srv_init_event = pong_node_test_srv_init_events[0]
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self.assertMatchingField(
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test_event_srv_init,
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'service_handle',
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pong_node_test_srv_init_event,
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'node_handle',
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None,
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node_init_events,
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False,
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)
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# Check that there are matching rclcpp_service_callback_added events
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ping_node_test_service_handle = self.get_field(
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ping_node_test_srv_init_event,
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'service_handle',
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)
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pong_node_test_service_handle = self.get_field(
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pong_node_test_srv_init_event,
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'service_handle',
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)
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ping_node_srv_callback_added_events = self.get_events_with_procname(
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'test_service_ping',
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callback_added_events,
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)
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ping_node_test_srv_callback_added_events = self.get_events_with_field_value(
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'service_handle',
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ping_node_test_service_handle,
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ping_node_srv_callback_added_events,
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)
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self.assertEqual(
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len(ping_node_test_srv_callback_added_events),
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1,
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'none or more than 1 matching callback_added events for the test_service_ping node',
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)
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pong_node_srv_callback_added_events = self.get_events_with_procname(
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'test_service_pong',
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callback_added_events,
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)
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pong_node_test_srv_callback_added_events = self.get_events_with_field_value(
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'service_handle',
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pong_node_test_service_handle,
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pong_node_srv_callback_added_events,
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)
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self.assertEqual(
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len(pong_node_test_srv_callback_added_events),
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1,
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'none or more than 1 matching callback_added events for the test_service_pong node',
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)
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# Check that there are matching rclcpp_callback_register events
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ping_node_test_callback_ref = self.get_field(
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ping_node_test_srv_callback_added_events[0],
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'callback',
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)
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pong_node_test_callback_ref = self.get_field(
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pong_node_test_srv_callback_added_events[0],
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'callback',
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)
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ping_node_callback_register_events = self.get_events_with_procname(
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'test_service_ping',
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callback_register_events,
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)
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ping_node_test_callback_register_events = self.get_events_with_field_value(
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'callback',
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ping_node_test_callback_ref,
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ping_node_callback_register_events,
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)
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self.assertEqual(
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len(ping_node_test_callback_register_events),
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1,
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'none or more than 1 matching callback_register events for the test_service_ping node',
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)
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pong_node_callback_register_events = self.get_events_with_procname(
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'test_service_pong',
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callback_register_events,
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)
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pong_node_test_callback_register_events = self.get_events_with_field_value(
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'callback',
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pong_node_test_callback_ref,
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pong_node_callback_register_events,
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)
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self.assertEqual(
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len(pong_node_test_callback_register_events),
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1,
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'none or more than 1 matching callback_register events for the test_service_pong node',
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)
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# Check that there are corresponding callback_start/stop pairs
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ping_node_test_callback_start_events = self.get_events_with_field_value(
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'callback',
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ping_node_test_callback_ref,
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start_events,
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)
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self.assertEqual(
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len(ping_node_test_callback_start_events),
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1,
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'none or more than 1 matching callback_start events for the test_service_ping node',
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)
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pong_node_test_callback_start_events = self.get_events_with_field_value(
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'callback',
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pong_node_test_callback_ref,
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start_events,
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)
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self.assertEqual(
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len(pong_node_test_callback_start_events),
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1,
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'none or more than 1 matching callback_start events for the test_service_pong node',
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)
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ping_node_test_callback_end_events = self.get_events_with_field_value(
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'callback',
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ping_node_test_callback_ref,
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end_events,
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)
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self.assertEqual(
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len(ping_node_test_callback_end_events),
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1,
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'none or more than 1 matching callback_end events for the test_service_ping node',
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)
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pong_node_test_callback_end_events = self.get_events_with_field_value(
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'callback',
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pong_node_test_callback_ref,
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end_events,
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)
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self.assertEqual(
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len(pong_node_test_callback_end_events),
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1,
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'none or more than 1 matching callback_end events for the test_service_pong node',
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)
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if __name__ == '__main__':
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