@spec call_service(String.t(), module(), struct(), keyword()) :: struct()

Call a service synchronously and return the response.

Starts a service client on the scenario node on first use. Raises on timeout or connection failure.

response = call_service "/safety/check", SafetyCheck, %SafetyCheck.Request{}
response = call_service "/safety/check", SafetyCheck, %SafetyCheck.Request{}, timeout: 3_000

opts

• :timeout how long to wait, in milliseconds. Defaults to 5000.
• :namespace the namespace of the scenario node. Defaults to the namespace given to scenario/3, or "/".
• :qos a Rclex.QoS profile. If not specified, Rclex.QoS.profile_services_default/0 is used. Only applied when the client is started.
• :introspection enables service event publishing with :metadata or :contents, and :introspection_qos configures the service event publisher. Both default to the Rclex defaults.

@spec expect_service_call(String.t(), module()) :: struct()

Assert that the mocked service received at least one new request.

Cursor-based: previous requests already matched by earlier assertions are skipped. Returns the matching request struct.

expect_service_call "/safety/check", SafetyCheck

@spec expect_service_call(String.t(), module(), (struct() -> boolean()) | keyword()) ::
  struct()

expect_service_call/2 with either a predicate or options.

expect_service_call "/safety/check", SafetyCheck,
  fn req -> req.robot_id == "hilda_1" end

expect_service_call "/safety/check", SafetyCheck, timeout: 10_000

opts

• :timeout how long to wait, in milliseconds. Defaults to 5000.
• :namespace the namespace of the scenario node. Defaults to the namespace given to scenario/3, or "/".

@spec expect_service_call(String.t(), module(), (struct() -> boolean()), keyword()) ::
  struct()

expect_service_call/3 with both a predicate and options.

expect_service_call "/safety/check", SafetyCheck,
  fn req -> req.robot_id == "hilda_1" end, timeout: 10_000

@spec mock_service(String.t(), module(), (struct() -> struct()), keyword()) :: :ok

Register a test service implementation on the scenario node.

All incoming requests are recorded in the collector and forwarded to handler. Cleanup is automatic when the scenario ends.

mock_service "/safety/check", SafetyCheck,
  fn _req -> %SafetyCheck.Response{allowed: true} end

mock_service "/safety/check", SafetyCheck, handler,
  qos: Rclex.QoS.profile_services_default(), introspection: :contents

opts

• :namespace the namespace of the scenario node. Defaults to the namespace given to scenario/3, or "/".
• :qos a Rclex.QoS profile. If not specified, Rclex.QoS.profile_services_default/0 is used.
• :introspection enables service event publishing with :metadata or :contents, and :introspection_qos configures the service event publisher. Both default to the Rclex defaults.

@spec refute_service_call(String.t(), module()) :: :ok

Assert that no new request arrives on the mocked service within the timeout.

refute_service_call "/delete_map", DeleteMap
refute_service_call "/delete_map", DeleteMap, timeout: 500

opts

• :timeout how long to wait, in milliseconds. Defaults to 200.
• :namespace the namespace of the scenario node. Defaults to the namespace given to scenario/3, or "/".

@spec refute_service_call(String.t(), module(), (struct() -> boolean()) | keyword()) ::
  :ok

refute_service_call/2 with either a predicate or options.

refute_service_call "/delete_map", DeleteMap, fn req -> req.force == true end
refute_service_call "/delete_map", DeleteMap, timeout: 500

@spec refute_service_call(String.t(), module(), (struct() -> boolean()), keyword()) ::
  :ok

Assert that no request matching predicate arrives within the timeout.

refute_service_call "/delete_map", DeleteMap, fn req -> req.force == true end