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Add end-to-end CLI output tests for ros2:
- action command - service command - topic command - interface command - node command - msg command - srv command Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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| # Copyright 2019 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| from typing import Callable | ||
| from typing import Iterable | ||
| from typing import Mapping | ||
| from typing import Optional | ||
| from typing import Pattern | ||
| from typing import Union | ||
|
|
||
| from launch import Action | ||
| from launch import SomeSubstitutionsType | ||
| from launch.utilities import normalize_to_list_of_substitutions | ||
|
|
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| import launch_testing.asserts | ||
|
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| ExpectedOutputType = Union[ | ||
| Iterable[Union[str, Pattern[str], Callable[[str], bool]]], | ||
| Callable[[Iterable[str]], bool] | ||
| ] | ||
| SomeExpectedOutputType = Union[ExpectedOutputType, Mapping[str, ExpectedOutputType]] | ||
|
|
||
|
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| class CLITestConfiguration(object): | ||
| """A class for configuring the `test_process_output_customizable.py.in` test.""" | ||
|
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| def __init__( | ||
| self, | ||
| *, | ||
| command: str, | ||
| arguments: Iterable[SomeSubstitutionsType], | ||
| description: Optional[str] = None, | ||
| fixture_actions: Optional[Iterable[Action]] = None, | ||
| setup_delay: Optional[int] = None, | ||
| expected_output: Optional[SomeExpectedOutputType] = None, | ||
| output_filter: Optional[Callable[[str], str]] = None, | ||
| exit_codes: Optional[Iterable[int]] = None, | ||
| self_terminates: bool = True, | ||
| timeout: int = 30. | ||
| ): | ||
| """ | ||
| Constructor. | ||
| :param command: `ros2` command to be tested. | ||
| :param arguments: A list of `SomeSubstitutionsType`, which are passed | ||
| as arguments to the command. | ||
| :param description: description of the test being done. command to be tested. | ||
| It usually contains the verb and arguments being tested. | ||
| :param fixture_actions: A list of actions, which are launched before the `ros2` | ||
| command under test. | ||
| :param setup_delay: A period in seconds to wait for fixture actions to start up | ||
| before launching the `ros2` command under test. If none is given, an appropriate | ||
| default is automatically provided. | ||
| :param expected_output: Output expectations for the `ros2` command under test and/or | ||
| fixture actions. In its most explicit form it is a mapping from process names to | ||
| either a list of expected lines, which may be expressed as plain strings, compiled | ||
| regexes, or a callable for custom line assertion, or a callable that takes all lines | ||
| for custom output assertions. Empty lists express that no output is expected. The | ||
| `ros2` command under test can be referenced as 'cli'. Alternatively, this mapping | ||
| can be elided if expectations are only defined for the `ros2` command under test. | ||
| In that case, only the corresponding mapping value has to be provided. | ||
| :param output_filter: A callable to filter output before testing it against expectations. | ||
| :param exit_codes: A list of allowed exit codes for the `ros2` command under test. | ||
| :param self_terminates: A flag for command termination policy. Non-self terminating | ||
| commands are forced to terminate after the specified timeout has elapsed. | ||
| :param timeout: A finite test timeout in seconds. | ||
| """ | ||
| self.command = command | ||
| self.arguments = [normalize_to_list_of_substitutions(arg) for arg in arguments] | ||
| if description is None: | ||
| description = 'ros2 {} {}'.format( | ||
| command, ' '.join([ | ||
| ''.join([sub.describe() for sub in some_subs]) for some_subs in self.arguments | ||
| ]) | ||
| ) | ||
| self.description = description | ||
| if fixture_actions is None: | ||
| fixture_actions = [] | ||
| self.fixture_actions = fixture_actions | ||
| self.expected_output = expected_output | ||
| self.output_filter = output_filter | ||
| if exit_codes is None: | ||
| exit_codes = [launch_testing.asserts.EXIT_OK] | ||
| self.exit_codes = exit_codes | ||
| self.self_terminates = self_terminates | ||
| self.setup_delay = setup_delay | ||
| self.timeout = timeout | ||
|
|
||
| def __repr__(self): | ||
| """Return the description.""" | ||
| return self.description |
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