"""py_srv 单元测试:同进程 spin + 验证 Service 通信。"""

import time

import rclpy
import pytest

from py_srv.add_two_ints_server import AddTwoIntsServer
from py_srv.add_two_ints_client import AddTwoIntsClient
from example_interfaces.srv import AddTwoInts


@pytest.fixture(scope='module')
def ros_context():
    rclpy.init()
    yield
    rclpy.shutdown()


def test_service_inproc_roundtrip(ros_context):
    """同进程内 server + client 互调,验证 a + b == sum。"""
    server = AddTwoIntsServer()
    client = AddTwoIntsClient()

    exec_ = rclpy.executors.SingleThreadedExecutor()
    exec_.add_node(server)
    exec_.add_node(client)

    req = AddTwoInts.Request()
    req.a = 7
    req.b = 35

    future = client._client.call_async(req)
    end = time.time() + 3.0
    while not future.done() and time.time() < end:
        exec_.spin_once(timeout_sec=0.05)

    assert future.done(), 'service call did not complete in 3s'
    assert future.result() is not None
    assert future.result().sum == 42

    exec_.remove_node(server)
    exec_.remove_node(client)