# 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.
import contextlib
import os
import re
import sys
import unittest
from launch import LaunchDescription
from launch.actions import ExecuteProcess
import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
import launch_testing_ros.tools
import pytest
from rclpy.utilities import get_available_rmw_implementations
import yaml
# Skip cli tests on Windows while they exhibit pathological behavior
# https://github.com/ros2/build_farmer/issues/248
if sys.platform.startswith('win'):
pytest.skip(
'CLI tests can block for a pathological amount of time on Windows.',
allow_module_level=True)
@pytest.mark.rostest
@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
def generate_test_description(rmw_implementation):
path_to_action_server_executable = os.path.join(
os.path.dirname(__file__), 'fixtures', 'fibonacci_action_server.py'
)
return LaunchDescription([
# Always restart daemon to isolate tests.
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
on_exit=[
ExecuteProcess(
cmd=[sys.executable, path_to_action_server_executable],
additional_env={'RMW_IMPLEMENTATION': rmw_implementation}
),
launch_testing.actions.ReadyToTest()
],
additional_env={'RMW_IMPLEMENTATION': rmw_implementation}
)
]
),
])
def get_fibonacci_send_goal_output(*, order=1, with_feedback=0):
assert order > 0
output = [
'Waiting for an action server to become available...',
'Sending goal:',
' order: {}'.format(order),
'',
re.compile('Goal accepted with ID: [a-f0-9]+'),
'',
]
sequence = [0, 1]
for _ in range(order - 1):
sequence.append(sequence[-1] + sequence[-2])
if with_feedback > 0:
output.append('Feedback:')
output.extend((' ' + yaml.dump({
'sequence': sequence
})).splitlines())
output.append('')
with_feedback -= 1
output.append('Result:'),
output.extend((' ' + yaml.dump({
'sequence': sequence
})).splitlines())
output.append('')
output.append('Goal finished with status: SUCCEEDED')
return output
class TestROS2ActionCLI(unittest.TestCase):
@classmethod
def setUpClass(
cls,
launch_service,
proc_info,
proc_output,
rmw_implementation
):
@contextlib.contextmanager
def launch_action_command(self, arguments):
action_command_action = ExecuteProcess(
cmd=['ros2', 'action', *arguments],
name='ros2action-cli', output='screen',
additional_env={
'RMW_IMPLEMENTATION': rmw_implementation,
'PYTHONUNBUFFERED': '1'
}
)
with launch_testing.tools.launch_process(
launch_service, action_command_action, proc_info, proc_output,
output_filter=launch_testing_ros.tools.basic_output_filter(
filtered_rmw_implementation=rmw_implementation
)
) as action_command:
yield action_command
cls.launch_action_command = launch_action_command
def test_info_on_nonexistent_action(self):
with self.launch_action_command(arguments=['info', '/not_an_action']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'Action: /not_an_action',
'Action clients: 0',
'Action servers: 0',
],
text=action_command.output,
strict=False
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_fibonacci_info(self):
with self.launch_action_command(arguments=['info', '/fibonacci']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'Action: /fibonacci',
'Action clients: 0',
'Action servers: 1',
' /fibonacci_action_server'
],
text=action_command.output,
strict=False
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_fibonacci_info_with_types(self):
with self.launch_action_command(arguments=['info', '-t', '/fibonacci']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'Action: /fibonacci',
'Action clients: 0',
'Action servers: 1',
' /fibonacci_action_server [test_msgs/action/Fibonacci]'
],
text=action_command.output,
strict=False
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_fibonacci_info_count(self):
with self.launch_action_command(arguments=['info', '-c', '/fibonacci']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=[
'Action: /fibonacci',
'Action clients: 0',
'Action servers: 1',
],
text=action_command.output,
strict=False
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_list(self):
with self.launch_action_command(arguments=['list']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=['/fibonacci'],
text=action_command.output,
strict=True
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_list_with_types(self):
with self.launch_action_command(arguments=['list', '-t']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=['/fibonacci [test_msgs/action/Fibonacci]'],
text=action_command.output, strict=True
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_list_count(self):
with self.launch_action_command(arguments=['list', '-c']) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
command_output_lines = action_command.output.splitlines()
assert len(command_output_lines) == 1
assert int(command_output_lines[0]) == 1
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_send_fibonacci_goal(self):
with self.launch_action_command(
arguments=[
'send_goal',
'/fibonacci',
'test_msgs/action/Fibonacci',
'{order: 5}'
],
) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=get_fibonacci_send_goal_output(order=5),
text=action_command.output, strict=True
)
@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_send_fibonacci_goal_with_feedback(self):
with self.launch_action_command(
arguments=[
'send_goal',
'-f',
'/fibonacci',
'test_msgs/action/Fibonacci',
'{order: 5}'
],
) as action_command:
assert action_command.wait_for_shutdown(timeout=10)
assert action_command.exit_code == launch_testing.asserts.EXIT_OK
assert launch_testing.tools.expect_output(
expected_lines=get_fibonacci_send_goal_output(order=5, with_feedback=1),
text=action_command.output, strict=False
)
