Migrate launch tests to new launch_testing features & API (ros2#318)

* Update after launch_testing features becoming legacy. Signed-off-by: Michel Hidalgo <[email protected]> * Migrate demos tests to new launch_testing API. Signed-off-by: Michel Hidalgo <[email protected]> * Stop using injected attributes in launch tests. Signed-off-by: Michel Hidalgo <[email protected]> * Add launch_testing_ros as test dependency where necessary. Signed-off-by: Michel Hidalgo <[email protected]> * Fix bad process cmd on logging demo tests. Signed-off-by: Michel Hidalgo <[email protected]> * Fix bad output filter in logging demo tests. Signed-off-by: Michel Hidalgo <[email protected]> * Address peer review comments. Signed-off-by: Michel Hidalgo <[email protected]> * Fix failing demo_nodes_cpp launch tests Signed-off-by: Michel Hidalgo <[email protected]> * Patch failing demo_nodes_cpp launch tests. Signed-off-by: Michel Hidalgo <[email protected]> * Alpha ordered some package.xml files. Signed-off-by: Michel Hidalgo <[email protected]> * Extended tests for parameter events. Signed-off-by: Michel Hidalgo <[email protected]> Signed-off-by: Darby Lim <[email protected]>
ROBOTIS-move · May 7, 2019 · 3663876 · 3663876
1 parent 5e59ef2
commit 3663876
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Showing 31 changed files with 639 additions and 646 deletions.
diff --git a/composition/CMakeLists.txt b/composition/CMakeLists.txt
@@ -130,6 +130,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
   find_package(rmw_implementation_cmake REQUIRED)
 
   file(GENERATE
@@ -165,12 +166,14 @@ if(BUILD_TESTING)
         OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}_$<CONFIG>.py"
         INPUT "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}.py.genexp"
       )
-      ament_add_pytest_test(${test_name}${target_suffix}
+      add_launch_test(
         "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}_$<CONFIG>.py"
+        TARGET ${test_name}${target_suffix}
         ENV RMW_IMPLEMENTATION=${rmw_implementation}
         APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
         APPEND_LIBRARY_DIRS "${append_library_dirs}"
-        TIMEOUT 60)
+        TIMEOUT 60
+      )
       list(
         APPEND generated_python_files
       "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}_$<CONFIG>.py")

diff --git a/composition/package.xml b/composition/package.xml
@@ -27,6 +27,8 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
 
   <export>

diff --git a/composition/test/test_api_pubsub_composition.py.in b/composition/test/test_api_pubsub_composition.py.in
@@ -12,67 +12,58 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import unittest
+
 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
-
+from launch.actions import OpaqueFunction
 
-def test_api_pubsub_composition():
-    name = 'test_api_composition'
-    executable = '@API_COMPOSITION_EXECUTABLE@'
-    additional_processes = [
-        {
-            'cmd': [
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Talker'],
-            'name': 'load_talker_component',
-        },
-        {
-            'cmd': [
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Listener'],
-            'name': 'load_listener_component',
-        }
-    ]
-    output_file = '@EXPECTED_OUTPUT_PUBSUB@'
-    launch(name, [executable], output_file, additional_processes=additional_processes)
+import launch_testing
+import launch_testing.asserts
+import launch_testing_ros
 
 
-def launch(name, cmd, output_file, additional_processes=None):
-    launch_test = LaunchTestService()
+def generate_test_description(ready_fn):
     launch_description = LaunchDescription()
-
-    action = launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=cmd,
-            name=name,
-            output='screen'
-        )
+    process_under_test = ExecuteProcess(
+        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+        name='test_api_composition',
+        output='screen'
     )
-    rmw_implementation = '@rmw_implementation@'
-    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
+    launch_description.add_action(process_under_test)
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'composition', 'composition::Talker'
+            ],
+            name='load_talker_component'
         )
     )
-    for additional_process in (additional_processes or []):
-        launch_test.add_fixture_action(
-            launch_description, ExecuteProcess(**additional_process)
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'composition', 'composition::Listener'
+            ],
+            name='load_listener_component'
         )
+    )
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
 
-    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?'
 
+class TestComposition(unittest.TestCase):
 
-if __name__ == '__main__':
-    test_api_pubsub_composition()
+    def test_api_pubsub_composition(self, proc_output, process_under_test):
+        """Test process' output against expectations."""
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_rmw_implementation='@rmw_implementation@'
+        )
+        proc_output.assertWaitFor(
+            expected_output=launch_testing.tools.expected_output_from_file(
+                path='@EXPECTED_OUTPUT_PUBSUB@'
+            ), process=process_under_test, output_filter=output_filter, timeout=10
+        )
diff --git a/composition/test/test_api_srv_composition.py.in b/composition/test/test_api_srv_composition.py.in
@@ -12,67 +12,58 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import unittest
+
 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
-
+from launch.actions import OpaqueFunction
 
-def test_api_srv_composition():
-    name = 'test_api_composition'
-    executable = '@API_COMPOSITION_EXECUTABLE@'
-    additional_processes = [
-        {
-            'cmd': [
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Server'],
-            'name': 'load_server_component',
-        },
-        {
-            'cmd': [
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Client'],
-            'name': 'load_client_component',
-        },
-    ]
-    output_file = '@EXPECTED_OUTPUT_SRV@'
-    launch(name, [executable], output_file, additional_processes=additional_processes)
+import launch_testing
+import launch_testing.asserts
+import launch_testing_ros
 
 
-def launch(name, cmd, output_file, additional_processes=None):
-    launch_test = LaunchTestService()
+def generate_test_description(ready_fn):
     launch_description = LaunchDescription()
-
-    action = launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=cmd,
-            name=name,
-            output='screen'
-        )
+    process_under_test = ExecuteProcess(
+        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+        name='test_api_composition',
+        output='screen'
     )
-    rmw_implementation = '@rmw_implementation@'
-    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
+    launch_description.add_action(process_under_test)
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'composition', 'composition::Server'
+            ],
+            name='load_server_component'
         )
     )
-    for additional_process in (additional_processes or []):
-        launch_test.add_fixture_action(
-            launch_description, ExecuteProcess(**additional_process)
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'composition', 'composition::Client'
+            ],
+            name='load_client_component'
         )
+    )
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
 
-    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?'
 
+class TestComposition(unittest.TestCase):
 
-if __name__ == '__main__':
-    test_api_srv_composition()
+    def test_api_srv_composition(self, proc_output, process_under_test):
+        """Test process' output against expectations."""
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_rmw_implementation='@rmw_implementation@'
+        )
+        proc_output.assertWaitFor(
+            expected_output=launch_testing.tools.expected_output_from_file(
+                path='@EXPECTED_OUTPUT_SRV@'
+            ), process=process_under_test, output_filter=output_filter, timeout=10
+        )
diff --git a/composition/test/test_api_srv_composition_client_first.py.in b/composition/test/test_api_srv_composition_client_first.py.in
@@ -12,69 +12,59 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import unittest
+
 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
-
+from launch.actions import OpaqueFunction
 
-def test_api_srv_composition_client_first():
-    # This is a regression test to ensure that the client starting first and waiting for a service
-    # does not block the executor from processing requests to load other components.
-    name = 'test_api_composition'
-    executable = '@API_COMPOSITION_EXECUTABLE@'
-    additional_processes = [
-        {
-            'cmd': [
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Client'],
-            'name': 'load_client_component',
-        },
-        {
-            'cmd': [
-                '@API_COMPOSITION_CLI_EXECUTABLE@',
-                'composition', 'composition::Server', '--delay', '5000'],
-            'name': 'load_server_component',
-        },
-    ]
-    output_file = '@EXPECTED_OUTPUT_SRV@'
-    launch(name, [executable], output_file, additional_processes=additional_processes)
+import launch_testing
+import launch_testing.asserts
+import launch_testing_ros
 
 
-def launch(name, cmd, output_file, additional_processes=None):
-    launch_test = LaunchTestService()
+def generate_test_description(ready_fn):
     launch_description = LaunchDescription()
-
-    action = launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
-            cmd=cmd,
-            name=name,
-            output='screen'
-        )
+    process_under_test = ExecuteProcess(
+        cmd=['@API_COMPOSITION_EXECUTABLE@'],
+        name='test_api_composition',
+        output='screen'
     )
-    rmw_implementation = '@rmw_implementation@'
-    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
+    launch_description.add_action(process_under_test)
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'composition', 'composition::Client'
+            ],
+            name='load_client_component'
         )
     )
-    for additional_process in (additional_processes or []):
-        launch_test.add_fixture_action(
-            launch_description, ExecuteProcess(**additional_process)
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                '@API_COMPOSITION_CLI_EXECUTABLE@',
+                'composition', 'composition::Server',
+                '--delay', '5000'
+            ],
+            name='load_server_component'
         )
+    )
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
 
-    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?'
 
+class TestComposition(unittest.TestCase):
 
-if __name__ == '__main__':
-    test_api_srv_composition_client_first()
+    def test_api_srv_composition_client_first(self, proc_output, process_under_test):
+        """Test process' output against expectations."""
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_rmw_implementation='@rmw_implementation@'
+        )
+        proc_output.assertWaitFor(
+            expected_output=launch_testing.tools.expected_output_from_file(
+                path='@EXPECTED_OUTPUT_SRV@'
+            ), process=process_under_test, output_filter=output_filter, timeout=15
+        )