Drops legacy launch API usage.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Feb 11, 2019 · 01e50e7 · 01e50e7
1 parent 6d348de
commit 01e50e7
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Showing 13 changed files with 389 additions and 367 deletions.
diff --git a/composition/test/test_api_pubsub_composition.py.in b/composition/test/test_api_pubsub_composition.py.in
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch.legacy import LaunchDescriptor
-from launch.legacy.exit_handler import default_exit_handler
-from launch.legacy.exit_handler import exit_on_error_exit_handler
-from launch.legacy.launcher import DefaultLauncher
-from launch.legacy.output_handler import ConsoleOutput
-from launch_testing import create_handler
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_testing import LaunchTestService
+from launch_testing.output import create_output_lines_filter
+from launch_testing.output import create_output_test_from_file
 
 
 def test_api_pubsub_composition():
@@ -29,47 +29,50 @@ def test_api_pubsub_composition():
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
                 'composition', 'composition::Talker'],
             'name': 'load_talker_component',
-            'exit_handler': exit_on_error_exit_handler,
         },
         {
             'cmd': [
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
                 'composition', 'composition::Listener'],
             'name': 'load_listener_component',
-            'exit_handler': exit_on_error_exit_handler,
         }
     ]
     output_file = '@EXPECTED_OUTPUT_PUBSUB@'
     launch(name, [executable], output_file, additional_processes=additional_processes)
 
 
 def launch(name, cmd, output_file, additional_processes=None):
-    launch_descriptor = LaunchDescriptor()
+    launch_test = LaunchTestService()
+    launch_description = LaunchDescription()
 
+    action = launch_test.add_fixture_action(
+        launch_description, ExecuteProcess(
+            cmd=cmd,
+            name=name,
+            output='screen'
+        )
+    )
     rmw_implementation = '@rmw_implementation@'
-    handler = create_handler(
-        name, launch_descriptor, output_file,
-        filtered_rmw_implementation=rmw_implementation)
-    assert handler, 'Cannot find appropriate handler for %s' % output_file
-    launch_descriptor.add_process(
-        cmd=cmd,
-        name=name,
-        exit_handler=default_exit_handler,
-        output_handlers=[ConsoleOutput(), handler],
+    launch_test.add_output_test(
+        launch_description, action,
+        output_test=create_output_test_from_file(output_file),
+        output_filter=create_output_lines_filter(
+            filtered_rmw_implementation=rmw_implementation
+        )
     )
     for additional_process in (additional_processes or []):
-        launch_descriptor.add_process(**additional_process)
+        launch_test.add_fixture_action(
+            launch_description, ExecuteProcess(**additional_process)
+        )
 
-    launcher = DefaultLauncher()
-    launcher.add_launch_descriptor(launch_descriptor)
-    rc = launcher.launch()
+    launch_service = LaunchService()
+    launch_service.include_launch_description(launch_description)
+    rc = launch_test.run(launch_service)
 
     assert rc == 0, \
         "The launch file failed with exit code '" + str(rc) + "'. " \
         'Maybe the client did not receive any messages?'
 
-    handler.check()
-
 
 if __name__ == '__main__':
     test_api_pubsub_composition()
diff --git a/composition/test/test_api_srv_composition.py.in b/composition/test/test_api_srv_composition.py.in
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch.legacy import LaunchDescriptor
-from launch.legacy.exit_handler import default_exit_handler
-from launch.legacy.exit_handler import exit_on_error_exit_handler
-from launch.legacy.launcher import DefaultLauncher
-from launch.legacy.output_handler import ConsoleOutput
-from launch_testing import create_handler
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_testing import LaunchTestService
+from launch_testing.output import create_output_lines_filter
+from launch_testing.output import create_output_test_from_file
 
 
 def test_api_srv_composition():
@@ -29,47 +29,50 @@ def test_api_srv_composition():
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
                 'composition', 'composition::Server'],
             'name': 'load_server_component',
-            'exit_handler': exit_on_error_exit_handler,
         },
         {
             'cmd': [
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
                 'composition', 'composition::Client'],
             'name': 'load_client_component',
-            'exit_handler': exit_on_error_exit_handler,
         },
     ]
     output_file = '@EXPECTED_OUTPUT_SRV@'
     launch(name, [executable], output_file, additional_processes=additional_processes)
 
 
 def launch(name, cmd, output_file, additional_processes=None):
-    launch_descriptor = LaunchDescriptor()
+    launch_test = LaunchTestService()
+    launch_description = LaunchDescription()
 
+    action = launch_test.add_fixture_action(
+        launch_description, ExecuteProcess(
+            cmd=cmd,
+            name=name,
+            output='screen'
+        )
+    )
     rmw_implementation = '@rmw_implementation@'
-    handler = create_handler(
-        name, launch_descriptor, output_file,
-        filtered_rmw_implementation=rmw_implementation)
-    assert handler, 'Cannot find appropriate handler for %s' % output_file
-    launch_descriptor.add_process(
-        cmd=cmd,
-        name=name,
-        exit_handler=default_exit_handler,
-        output_handlers=[ConsoleOutput(), handler],
+    launch_test.add_output_test(
+        launch_description, action,
+        output_test=create_output_test_from_file(output_file),
+        output_filter=create_output_lines_filter(
+            filtered_rmw_implementation=rmw_implementation
+        )
     )
     for additional_process in (additional_processes or []):
-        launch_descriptor.add_process(**additional_process)
+        launch_test.add_fixture_action(
+            launch_description, ExecuteProcess(**additional_process)
+        )
 
-    launcher = DefaultLauncher()
-    launcher.add_launch_descriptor(launch_descriptor)
-    rc = launcher.launch()
+    launch_service = LaunchService()
+    launch_service.include_launch_description(launch_description)
+    rc = launch_test.run(launch_service)
 
     assert rc == 0, \
         "The launch file failed with exit code '" + str(rc) + "'. " \
         'Maybe the client did not receive any messages?'
 
-    handler.check()
-
 
 if __name__ == '__main__':
     test_api_srv_composition()
diff --git a/composition/test/test_api_srv_composition_client_first.py.in b/composition/test/test_api_srv_composition_client_first.py.in
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch.legacy import LaunchDescriptor
-from launch.legacy.exit_handler import default_exit_handler
-from launch.legacy.exit_handler import exit_on_error_exit_handler
-from launch.legacy.launcher import DefaultLauncher
-from launch.legacy.output_handler import ConsoleOutput
-from launch_testing import create_handler
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_testing import LaunchTestService
+from launch_testing.output import create_output_lines_filter
+from launch_testing.output import create_output_test_from_file
 
 
 def test_api_srv_composition_client_first():
@@ -31,47 +31,50 @@ def test_api_srv_composition_client_first():
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
                 'composition', 'composition::Client'],
             'name': 'load_client_component',
-            'exit_handler': exit_on_error_exit_handler,
         },
         {
             'cmd': [
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
                 'composition', 'composition::Server', '--delay', '5000'],
             'name': 'load_server_component',
-            'exit_handler': exit_on_error_exit_handler,
         },
     ]
     output_file = '@EXPECTED_OUTPUT_SRV@'
     launch(name, [executable], output_file, additional_processes=additional_processes)
 
 
 def launch(name, cmd, output_file, additional_processes=None):
-    launch_descriptor = LaunchDescriptor()
+    launch_test = LaunchTestService()
+    launch_description = LaunchDescription()
 
+    action = launch_test.add_fixture_action(
+        launch_description, ExecuteProcess(
+            cmd=cmd,
+            name=name,
+            output='screen'
+        )
+    )
     rmw_implementation = '@rmw_implementation@'
-    handler = create_handler(
-        name, launch_descriptor, output_file,
-        filtered_rmw_implementation=rmw_implementation)
-    assert handler, 'Cannot find appropriate handler for %s' % output_file
-    launch_descriptor.add_process(
-        cmd=cmd,
-        name=name,
-        exit_handler=default_exit_handler,
-        output_handlers=[ConsoleOutput(), handler],
+    launch_test.add_output_test(
+        launch_description, action,
+        output_test=create_output_test_from_file(output_file),
+        output_filter=create_output_lines_filter(
+            filtered_rmw_implementation=rmw_implementation
+        )
     )
     for additional_process in (additional_processes or []):
-        launch_descriptor.add_process(**additional_process)
+        launch_test.add_fixture_action(
+            launch_description, ExecuteProcess(**additional_process)
+        )
 
-    launcher = DefaultLauncher()
-    launcher.add_launch_descriptor(launch_descriptor)
-    rc = launcher.launch()
+    launch_service = LaunchService()
+    launch_service.include_launch_description(launch_description)
+    rc = launch_test.run(launch_service)
 
     assert rc == 0, \
         "The launch file failed with exit code '" + str(rc) + "'. " \
         'Maybe the client did not receive any messages?'
 
-    handler.check()
-
 
 if __name__ == '__main__':
     test_api_srv_composition_client_first()
diff --git a/composition/test/test_dlopen_composition.py.in b/composition/test/test_dlopen_composition.py.in
@@ -12,11 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch.legacy import LaunchDescriptor
-from launch.legacy.exit_handler import default_exit_handler
-from launch.legacy.launcher import DefaultLauncher
-from launch.legacy.output_handler import ConsoleOutput
-from launch_testing import create_handler
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_testing import LaunchTestService
+from launch_testing.output import create_output_lines_filter
+from launch_testing.output import create_output_test_from_file
 
 
 def test_dlopen_composition():
@@ -34,32 +35,37 @@ def test_dlopen_composition():
 
 
 def launch(name, cmd, output_file, additional_processes=None):
-    launch_descriptor = LaunchDescriptor()
+    launch_test = LaunchTestService()
+    launch_description = LaunchDescription()
 
+    action = launch_test.add_fixture_action(
+        launch_description, ExecuteProcess(
+            cmd=cmd,
+            name=name,
+            output='screen'
+        )
+    )
     rmw_implementation = '@rmw_implementation@'
-    handler = create_handler(
-        name, launch_descriptor, output_file,
-        filtered_rmw_implementation=rmw_implementation)
-    assert handler, 'Cannot find appropriate handler for %s' % output_file
-    launch_descriptor.add_process(
-        cmd=cmd,
-        name=name,
-        exit_handler=default_exit_handler,
-        output_handlers=[ConsoleOutput(), handler],
+    launch_test.add_output_test(
+        launch_description, action,
+        output_test=create_output_test_from_file(output_file),
+        output_filter=create_output_lines_filter(
+            filtered_rmw_implementation=rmw_implementation
+        )
     )
     for additional_process in (additional_processes or []):
-        launch_descriptor.add_process(**additional_process)
+        launch_test.add_fixture_action(
+            launch_description, ExecuteProcess(**additional_process)
+        )
 
-    launcher = DefaultLauncher()
-    launcher.add_launch_descriptor(launch_descriptor)
-    rc = launcher.launch()
+    launch_service = LaunchService()
+    launch_service.include_launch_description(launch_description)
+    rc = launch_test.run(launch_service)
 
     assert rc == 0, \
         "The launch file failed with exit code '" + str(rc) + "'. " \
         'Maybe the client did not receive any messages?'
 
-    handler.check()
-
 
 if __name__ == '__main__':
     test_dlopen_composition()