pydrake: De-boilerplate deprecation unit tests (#10765)

bindings/pydrake/common/test_utilities/BUILD.bazel

@@ -0,0 +1,47 @@
+# -*- python -*-
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+load(
+    "@drake//tools/skylark:pybind.bzl",
+    "get_pybind_package_info",
+)
+load(
+    "@drake//tools/skylark:drake_py.bzl",
+    "drake_py_library",
+)
+
+package(default_visibility = [
+    "//bindings/pydrake:__subpackages__",
+])
+
+# This determines how `PYTHONPATH` is configured.
+PACKAGE_INFO = get_pybind_package_info("//bindings")
+
+drake_py_library(
+    name = "module_py",
+    srcs = ["__init__.py"],
+    imports = PACKAGE_INFO.py_imports,
+    deps = [
+        "//bindings/pydrake/common:module_py",
+    ],
+)
+
+drake_py_library(
+    name = "deprecation_py",
+    srcs = ["deprecation.py"],
+    deps = [":module_py"],
+)
+
+# Package roll-up (for Bazel dependencies).
+drake_py_library(
+    name = "test_utilities",
+    deps = [
+        ":deprecation_py",
+        ":module_py",
+    ],
+)
+
+add_lint_tests(
+    cpplint_data = ["//bindings/pydrake:.clang-format"],
+    enable_clang_format_lint = True,
+)

bindings/pydrake/common/test_utilities/__init__.py

@@ -0,0 +1,3 @@
+"""
+Utilities for unit testing.
+"""

bindings/pydrake/common/test_utilities/deprecation.py

@@ -0,0 +1,28 @@
+"""
+Utilities for unit testing deprecation.
+"""
+
+import contextlib
+import warnings
+
+from pydrake.common.deprecation import DrakeDeprecationWarning
+
+
+def _check_expected(caught, expected_count):
+    if expected_count is None:
+        return
+    if len(caught) == expected_count:
+        return
+    raise ValueError(
+        "Expected {} deprecation warnings but got {} instead:\n".format(
+            expected_count, len(caught)) + "\n".join([str(x) for x in caught]))
+
+
+@contextlib.contextmanager
+def catch_drake_warnings(action="always", expected_count=None):
+    try:
+        with warnings.catch_warnings(record=True) as caught:
+            warnings.simplefilter(action, DrakeDeprecationWarning)
+            yield caught
+    finally:
+        _check_expected(caught, expected_count)

bindings/pydrake/multibody/BUILD.bazel

@@ -225,6 +225,7 @@ drake_py_unittest(
         ":multibody_tree_py",
         ":plant_py",
         ":tree_py",
+        "//bindings/pydrake/common/test_utilities",
     ],
 )
 
@@ -241,6 +242,7 @@ drake_py_unittest(
     deps = [
         ":benchmarks_py",
         ":inverse_kinematics_py",
+        "//bindings/pydrake/common/test_utilities",
     ],
 )
 

bindings/pydrake/multibody/test/inverse_kinematics_test.py

@@ -8,9 +8,9 @@
 import numpy as np
 from numpy.linalg import norm
 
-from pydrake.common.deprecation import DrakeDeprecationWarning
 from pydrake.common import FindResourceOrThrow
 from pydrake.common.eigen_geometry import Quaternion, AngleAxis, Isometry3
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.math import RotationMatrix
 from pydrake.multibody.plant import (
     MultibodyPlant, AddMultibodyPlantSceneGraph)
@@ -102,13 +102,11 @@ def test_AddPositionConstraint(self):
         self.assertTrue(np.less(p_AQ, p_AQ_upper +
                                 1E-6 * np.ones((3, 1))).all())
 
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=2):
             self.assertEqual(
                 self.prog.Solve(), mp.SolutionResult.kSolutionFound)
             self.assertTrue(np.allclose(
                 self.prog.GetSolution(self.q), q_val))
-            self.assertEqual(len(w), 2)
 
     def test_AddOrientationConstraint(self):
         theta_bound = 0.2 * math.pi
@@ -133,9 +131,7 @@ def test_AddOrientationConstraint(self):
             R_AbarBbar.dot(R_BbarB.matrix()))
         self.assertGreater(R_AB.trace(), 1 + 2 * math.cos(theta_bound) - 1E-6)
 
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
-
+        with catch_drake_warnings(expected_count=2):
             self.assertEqual(
                 self.prog.Solve(), mp.SolutionResult.kSolutionFound)
             q_val = self.prog.GetSolution(self.q)
@@ -150,8 +146,6 @@ def test_AddOrientationConstraint(self):
             self.assertGreater(R_AB.trace(),
                                1 + 2 * math.cos(theta_bound) - 1E-6)
 
-            self.assertEqual(len(w), 2)
-
     def test_AddGazeTargetConstraint(self):
         p_AS = np.array([0.1, 0.2, 0.3])
         n_A = np.array([0.3, 0.5, 1.2])
@@ -181,9 +175,7 @@ def test_AddGazeTargetConstraint(self):
         self.assertGreater(p_ST_W.dot(n_W), np.linalg.norm(
             p_ST_W) * np.linalg.norm(n_W) * math.cos(cone_half_angle) - 1E-6)
 
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
-
+        with catch_drake_warnings(expected_count=2):
             self.assertEqual(
                 self.prog.Solve(), mp.SolutionResult.kSolutionFound)
             q_val = self.prog.GetSolution(self.q)
@@ -203,8 +195,6 @@ def test_AddGazeTargetConstraint(self):
                 p_ST_W) * np.linalg.norm(n_W) *
                 math.cos(cone_half_angle) - 1E-6)
 
-            self.assertEqual(len(w), 2)
-
     def test_AddAngleBetweenVectorsConstraint(self):
         na_A = np.array([0.2, -0.4, 0.9])
         nb_B = np.array([1.4, -0.1, 1.8])
@@ -233,13 +223,11 @@ def test_AddAngleBetweenVectorsConstraint(self):
 
         self.assertLess(math.fabs(angle - angle_lower), 1E-6)
 
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=2):
             self.assertEqual(
                 self.prog.Solve(), mp.SolutionResult.kSolutionFound)
             self.assertTrue(np.allclose(
                 self.prog.GetSolution(self.q), q_val))
-            self.assertEqual(len(w), 2)
 
     def test_AddMinimumDistanceConstraint(self):
         ik = self.ik_two_bodies
@@ -273,10 +261,8 @@ def get_min_distance_actual():
         self.plant.SetPositions(context, q_val)
         self.assertGreater(get_min_distance_actual(), min_distance - tol)
 
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=2):
             self.assertEqual(
                 self.prog.Solve(), mp.SolutionResult.kSolutionFound)
             self.assertTrue(np.allclose(
                 self.prog.GetSolution(ik.q()), q_val))
-            self.assertEqual(len(w), 2)

bindings/pydrake/multibody/test/plant_test.py

@@ -53,10 +53,8 @@
 import numpy as np
 
 from pydrake.common import FindResourceOrThrow
-from pydrake.common.deprecation import (
-    DrakeDeprecationWarning,
-)
 from pydrake.common.eigen_geometry import Isometry3
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.systems.framework import InputPort, OutputPort
 from pydrake.math import RigidTransform, RollPitchYaw
 from pydrake.systems.lcm import LcmPublisherSystem
@@ -66,15 +64,13 @@
 # modules. Additionally, assert length of warnings here rather than in the test
 # so that we do not have to worry about whether a module has already been
 # loaded.
-with warnings.catch_warnings(record=True) as w:
-    warnings.simplefilter("default", DrakeDeprecationWarning)
+with catch_drake_warnings(expected_count=3):
     from pydrake.multibody.multibody_tree import (
         BodyNodeIndex,
         MobilizerIndex,
         MultibodyTree,
     )
     from pydrake.multibody.multibody_tree.parsing import AddModelFromSdfFile
-    assert len(w) == 3, len(w)
 
 
 def get_index_class(cls):
@@ -220,11 +216,9 @@ def test_deprecated_parsing(self):
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
 
         plant = MultibodyPlant(time_step=0.01)
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter("default", DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=1):
             result = AddModelFromSdfFile(plant=plant, file_name=sdf_file)
             self.assertIsInstance(result, ModelInstanceIndex)
-            self.assertEqual(len(w), 1)
 
     def check_old_spelling_exists(self, value):
         # Just to make it obvious when this is being tested.
@@ -849,8 +843,7 @@ def test_deprecated_tree_api(self):
         plant = MultibodyPlant()
         plant.Finalize()
 
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
+        with catch_drake_warnings() as w:
             num_expected_warnings = [0]
 
             def expect_new_warning(msg_part):

bindings/pydrake/solvers/BUILD.bazel

@@ -166,7 +166,10 @@ drake_py_unittest(
         "//tools:no_ipopt": ["TestIpoptSolver.unavailable"],
         "//conditions:default": [],
     }),
-    deps = [":ipopt_py"],
+    deps = [
+        ":ipopt_py",
+        "//bindings/pydrake/common/test_utilities",
+    ],
 )
 
 drake_py_unittest(
@@ -191,6 +194,7 @@ drake_py_unittest(
         ":gurobi_py",
         ":mathematicalprogram_py",
         ":snopt_py",
+        "//bindings/pydrake/common/test_utilities",
     ],
 )
 

bindings/pydrake/solvers/test/ipopt_solver_test.py

@@ -5,7 +5,7 @@
 
 import numpy as np
 
-from pydrake.common.deprecation import DrakeDeprecationWarning
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.solvers import mathematicalprogram as mp
 from pydrake.solvers.ipopt import IpoptSolver
 
@@ -36,11 +36,9 @@ def test_ipopt_solver_deprecated(self):
         # SolverBase method that writes the solution back into the program.
         prog, x, x_expected = self._make_prog()
         solver = IpoptSolver()
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('always', DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=2):
             result = solver.Solve(prog)
             solution = prog.GetSolution(x)
-            self.assertEqual(len(w), 2)
         self.assertEqual(result, mp.SolutionResult.kSolutionFound)
         self.assertTrue(np.allclose(solution, x_expected))
 

bindings/pydrake/solvers/test/mathematicalprogram_test.py

@@ -14,7 +14,7 @@
 import numpy as np
 
 import pydrake
-from pydrake.common.deprecation import DrakeDeprecationWarning
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.autodiffutils import AutoDiffXd
 import pydrake.symbolic as sym
 
@@ -224,10 +224,8 @@ def test_bindings(self):
         self.assertTrue(np.allclose(result.GetSolution(x), x_expected))
 
         # Test deprecated method.
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter('once', DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=1):
             c = binding.constraint()
-            self.assertEqual(len(w), 1)
 
     def test_constraint_api(self):
         prog = mp.MathematicalProgram()
@@ -293,9 +291,7 @@ def test_eval_binding(self):
         constraints = qp.constraints
         constraint_values_expected = [1., 1., 2., 3.]
 
-        with warnings.catch_warnings():
-            warnings.simplefilter('ignore', DrakeDeprecationWarning)
-
+        with catch_drake_warnings(action='ignore'):
             prog.Solve()
             self.assertTrue(np.allclose(prog.GetSolution(x), x_expected))
 
@@ -375,8 +371,7 @@ def test_sos(self):
         self.assertTrue(result.is_success())
 
         # Test SubstituteSolution(sym.Expression)
-        with warnings.catch_warnings():
-            warnings.simplefilter('ignore', DrakeDeprecationWarning)
+        with catch_drake_warnings(action='ignore'):
             prog.Solve()
             # TODO(eric.cousineau): Expose `SymbolicTestCase` so that other
             # tests can use the assertion utilities.

bindings/pydrake/systems/BUILD.bazel

@@ -369,6 +369,7 @@ drake_py_unittest(
         ":framework_py",
         ":primitives_py",
         ":test_util_py",
+        "//bindings/pydrake/common/test_utilities",
     ],
 )
 
@@ -449,6 +450,7 @@ drake_py_unittest(
     name = "trajectory_optimization_test",
     deps = [
         ":trajectory_optimization_py",
+        "//bindings/pydrake/common/test_utilities",
         "//bindings/pydrake/examples:pendulum_py",
     ],
 )

bindings/pydrake/systems/test/custom_test.py

@@ -35,9 +35,7 @@
     call_vector_system_overrides,
     )
 
-from pydrake.common.deprecation import (
-    DrakeDeprecationWarning,
-    )
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 
 
 def noop(*args, **kwargs):
@@ -390,10 +388,8 @@ def __init__(self):
         self.assertEqual(
             values.get_mutable_value(0).get_value(), model_value.get_value())
         values.SetFrom(values.Clone())
-        with warnings.catch_warnings(record=True) as w:
-            warnings.simplefilter("always", DrakeDeprecationWarning)
+        with catch_drake_warnings(expected_count=1):
             values.CopyFrom(values.Clone())
-            self.assertEqual(len(w), 1)
 
         # - Check diagram context accessors.
         builder = DiagramBuilder()
@@ -514,10 +510,8 @@ def test_deprecated_abstract_input_port(self):
         class ParseFloatSystem(LeafSystem_[float]):
             def __init__(self):
                 LeafSystem_[float].__init__(self)
-                with warnings.catch_warnings(record=True) as w:
-                    warnings.simplefilter("default", DrakeDeprecationWarning)
+                with catch_drake_warnings(expected_count=1):
                     self._DeclareAbstractInputPort("in")
-                    test.assertEqual(len(w), 1)
                 self._DeclareVectorOutputPort("out", BasicVector(1), self._Out)
 
             def _Out(self, context, y_data):