Add auto-expansion of LaunchConfiguration

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
kenji-miyake · Mar 10, 2022 · 8bdf336 · 8bdf336
1 parent 375486a
commit 8bdf336
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Showing 2 changed files with 43 additions and 6 deletions.
diff --git a/launch/launch/substitutions/boolean_substitution.py b/launch/launch/substitutions/boolean_substitution.py
@@ -17,6 +17,7 @@
 from typing import Iterable
 from typing import Text
 
+from .launch_configuration import LaunchConfiguration
 from .substitution_failure import SubstitutionFailure
 from ..frontend import expose_substitution
 from ..launch_context import LaunchContext
@@ -55,7 +56,9 @@ def describe(self) -> Text:
     def perform(self, context: LaunchContext) -> Text:
         """Perform the substitution."""
         try:
-            condition = perform_typed_substitution(context, self.value, bool)
+            value = LaunchConfiguration(self.value, default=self.value).perform(context)
+            condition = perform_typed_substitution(
+                context, normalize_to_list_of_substitutions(value), bool)
         except (TypeError, ValueError) as e:
             raise SubstitutionFailure(e)
 
@@ -97,11 +100,15 @@ def describe(self) -> Text:
     def perform(self, context: LaunchContext) -> Text:
         """Perform the substitution."""
         try:
-            left_condition = perform_typed_substitution(context, self.left, bool)
+            value = LaunchConfiguration(self.left, default=self.left).perform(context)
+            left_condition = perform_typed_substitution(
+                context, normalize_to_list_of_substitutions(value), bool)
         except (TypeError, ValueError) as e:
             raise SubstitutionFailure(e)
         try:
-            right_condition = perform_typed_substitution(context, self.right, bool)
+            value = LaunchConfiguration(self.right, default=self.right).perform(context)
+            right_condition = perform_typed_substitution(
+                context, normalize_to_list_of_substitutions(value), bool)
         except (TypeError, ValueError) as e:
             raise SubstitutionFailure(e)
 
@@ -143,11 +150,15 @@ def describe(self) -> Text:
     def perform(self, context: LaunchContext) -> Text:
         """Perform the substitution."""
         try:
-            left_condition = perform_typed_substitution(context, self.left, bool)
+            value = LaunchConfiguration(self.left, default=self.left).perform(context)
+            left_condition = perform_typed_substitution(
+                context, normalize_to_list_of_substitutions(value), bool)
         except (TypeError, ValueError) as e:
             raise SubstitutionFailure(e)
         try:
-            right_condition = perform_typed_substitution(context, self.right, bool)
+            value = LaunchConfiguration(self.right, default=self.right).perform(context)
+            right_condition = perform_typed_substitution(
+                context, normalize_to_list_of_substitutions(value), bool)
         except (TypeError, ValueError) as e:
             raise SubstitutionFailure(e)
 

diff --git a/launch_xml/test/launch_xml/test_boolean_substitution.py b/launch_xml/test/launch_xml/test_boolean_substitution.py
@@ -20,7 +20,7 @@
 from launch.utilities import perform_substitutions
 
 
-def test_boolean_substitution_xml():
+def test_boolean_substitution():
     xml_file = textwrap.dedent(
         r"""
         <launch>
@@ -46,6 +46,32 @@ def test_boolean_substitution_xml():
         check_boolean_substitution(f)
 
 
+def test_boolean_substitution_no_var():
+    xml_file = textwrap.dedent(
+        r"""
+        <launch>
+            <let name="true_value" value="true" />
+            <let name="false_value" value="false" />
+
+            <let name="not_true" value="$(not true_value)" />
+            <let name="not_false" value="$(not false_value)" />
+
+            <let name="and_true_true" value="$(and true_value true_value)" />
+            <let name="and_true_false" value="$(and true_value false_value)" />
+            <let name="and_false_true" value="$(and false_value true_value)" />
+            <let name="and_false_false" value="$(and false_value false_value)" />
+
+            <let name="or_true_true" value="$(or true_value true_value)" />
+            <let name="or_true_false" value="$(or true_value false_value)" />
+            <let name="or_false_true" value="$(or false_value true_value)" />
+            <let name="or_false_false" value="$(or false_value false_value)" />
+        </launch>
+        """
+    )
+    with io.StringIO(xml_file) as f:
+        check_boolean_substitution(f)
+
+
 def check_boolean_substitution(file):
     root_entity, parser = Parser.load(file)
     ld = parser.parse_description(root_entity)