Add boolean substitutions (#598)

* Add boolean substitutions

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add lower() to the output

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Move test file

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use perform_typed_substitution and simplify the code

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix for flake8

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add auto-expansion of LaunchConfiguration

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Revert "Add auto-expansion of LaunchConfiguration"

This reverts commit 8bdf336.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix True to true

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add tests to launch_yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Update launch/test/launch/substitutions/test_boolean_substitution.py

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>

launch/launch/substitutions/__init__.py

@@ -15,6 +15,9 @@
 """Package for substitutions."""
 
 from .anon_name import AnonName
+from .boolean_substitution import AndSubstitution
+from .boolean_substitution import NotSubstitution
+from .boolean_substitution import OrSubstitution
 from .command import Command
 from .environment_variable import EnvironmentVariable
 from .find_executable import FindExecutable
@@ -28,12 +31,15 @@
 from .this_launch_file_dir import ThisLaunchFileDir
 
 __all__ = [
+    'AndSubstitution',
     'AnonName',
     'Command',
     'EnvironmentVariable',
     'FindExecutable',
     'LaunchConfiguration',
     'LocalSubstitution',
+    'NotSubstitution',
+    'OrSubstitution',
     'PathJoinSubstitution',
     'PythonExpression',
     'SubstitutionFailure',

launch/launch/substitutions/boolean_substitution.py

@@ -0,0 +1,154 @@
+# Copyright 2022 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.
+
+"""Module for boolean substitutions."""
+
+from typing import Iterable
+from typing import Text
+
+from .substitution_failure import SubstitutionFailure
+from ..frontend import expose_substitution
+from ..launch_context import LaunchContext
+from ..some_substitutions_type import SomeSubstitutionsType
+from ..substitution import Substitution
+from ..utilities import normalize_to_list_of_substitutions
+from ..utilities.type_utils import perform_typed_substitution
+
+
+@expose_substitution('not')
+class NotSubstitution(Substitution):
+    """Substitution that returns 'not' of the input boolean value."""
+
+    def __init__(self, value: SomeSubstitutionsType) -> None:
+        """Create a NotSubstitution substitution."""
+        super().__init__()
+
+        self.__value = normalize_to_list_of_substitutions(value)
+
+    @classmethod
+    def parse(cls, data: Iterable[SomeSubstitutionsType]):
+        """Parse `NotSubstitution` substitution."""
+        if len(data) != 1:
+            raise TypeError('not substitution expects 1 argument')
+        return cls, {'value': data[0]}
+
+    @property
+    def value(self) -> Substitution:
+        """Getter for value."""
+        return self.__value
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return f'NotSubstitution({self.value})'
+
+    def perform(self, context: LaunchContext) -> Text:
+        """Perform the substitution."""
+        try:
+            condition = perform_typed_substitution(context, self.value, bool)
+        except (TypeError, ValueError) as e:
+            raise SubstitutionFailure(e)
+
+        return str(not condition).lower()
+
+
+@expose_substitution('and')
+class AndSubstitution(Substitution):
+    """Substitution that returns 'and' of the input boolean values."""
+
+    def __init__(self, left: SomeSubstitutionsType, right: SomeSubstitutionsType) -> None:
+        """Create a AndSubstitution substitution."""
+        super().__init__()
+
+        self.__left = normalize_to_list_of_substitutions(left)
+        self.__right = normalize_to_list_of_substitutions(right)
+
+    @classmethod
+    def parse(cls, data: Iterable[SomeSubstitutionsType]):
+        """Parse `AndSubstitution` substitution."""
+        if len(data) != 2:
+            raise TypeError('and substitution expects 2 arguments')
+        return cls, {'left': data[0], 'right': data[1]}
+
+    @property
+    def left(self) -> Substitution:
+        """Getter for left."""
+        return self.__left
+
+    @property
+    def right(self) -> Substitution:
+        """Getter for right."""
+        return self.__right
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return f'AndSubstitution({self.left} {self.right})'
+
+    def perform(self, context: LaunchContext) -> Text:
+        """Perform the substitution."""
+        try:
+            left_condition = perform_typed_substitution(context, self.left, bool)
+        except (TypeError, ValueError) as e:
+            raise SubstitutionFailure(e)
+        try:
+            right_condition = perform_typed_substitution(context, self.right, bool)
+        except (TypeError, ValueError) as e:
+            raise SubstitutionFailure(e)
+
+        return str(left_condition and right_condition).lower()
+
+
+@expose_substitution('or')
+class OrSubstitution(Substitution):
+    """Substitution that returns 'or' of the input boolean values."""
+
+    def __init__(self, left: SomeSubstitutionsType, right: SomeSubstitutionsType) -> None:
+        """Create a AndSubstitution substitution."""
+        super().__init__()
+
+        self.__left = normalize_to_list_of_substitutions(left)
+        self.__right = normalize_to_list_of_substitutions(right)
+
+    @classmethod
+    def parse(cls, data: Iterable[SomeSubstitutionsType]):
+        """Parse `AndSubstitution` substitution."""
+        if len(data) != 2:
+            raise TypeError('and substitution expects 2 arguments')
+        return cls, {'left': data[0], 'right': data[1]}
+
+    @property
+    def left(self) -> Substitution:
+        """Getter for left."""
+        return self.__left
+
+    @property
+    def right(self) -> Substitution:
+        """Getter for right."""
+        return self.__right
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return f'AndSubstitution({self.left} {self.right})'
+
+    def perform(self, context: LaunchContext) -> Text:
+        """Perform the substitution."""
+        try:
+            left_condition = perform_typed_substitution(context, self.left, bool)
+        except (TypeError, ValueError) as e:
+            raise SubstitutionFailure(e)
+        try:
+            right_condition = perform_typed_substitution(context, self.right, bool)
+        except (TypeError, ValueError) as e:
+            raise SubstitutionFailure(e)
+
+        return str(left_condition or right_condition).lower()

launch/test/launch/substitutions/test_boolean_substitution.py

@@ -0,0 +1,56 @@
+# Copyright 2022 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.
+
+"""Tests for the boolean substitution classes."""
+
+from launch import LaunchContext
+
+from launch.substitutions import AndSubstitution
+from launch.substitutions import NotSubstitution
+from launch.substitutions import OrSubstitution
+from launch.substitutions.substitution_failure import SubstitutionFailure
+
+import pytest
+
+
+def test_not_substitution():
+    lc = LaunchContext()
+    assert NotSubstitution('true').perform(lc) == 'false'
+    assert NotSubstitution('false').perform(lc) == 'true'
+    with pytest.raises(SubstitutionFailure):
+        NotSubstitution('not-condition-expression').perform(lc)
+
+
+def test_and_substitution():
+    lc = LaunchContext()
+    assert AndSubstitution('true', 'true').perform(lc) == 'true'
+    assert AndSubstitution('true', 'false').perform(lc) == 'false'
+    assert AndSubstitution('false', 'true').perform(lc) == 'false'
+    assert AndSubstitution('false', 'false').perform(lc) == 'false'
+    with pytest.raises(SubstitutionFailure):
+        AndSubstitution('not-condition-expression', 'true').perform(lc)
+    with pytest.raises(SubstitutionFailure):
+        AndSubstitution('true', 'not-condition-expression').perform(lc)
+
+
+def test_or_substitution():
+    lc = LaunchContext()
+    assert OrSubstitution('true', 'true').perform(lc) == 'true'
+    assert OrSubstitution('true', 'false').perform(lc) == 'true'
+    assert OrSubstitution('false', 'true').perform(lc) == 'true'
+    assert OrSubstitution('false', 'false').perform(lc) == 'false'
+    with pytest.raises(SubstitutionFailure):
+        OrSubstitution('not-condition-expression', 'true').perform(lc)
+    with pytest.raises(SubstitutionFailure):
+        OrSubstitution('true', 'not-condition-expression').perform(lc)

launch_xml/test/launch_xml/test_boolean_substitution.py

@@ -0,0 +1,85 @@
+# Copyright 2022 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 io
+import textwrap
+
+from launch import LaunchService
+from launch.frontend import Parser
+from launch.utilities import perform_substitutions
+
+
+def test_boolean_substitution_xml():
+    xml_file = textwrap.dedent(
+        r"""
+        <launch>
+            <let name="true_value" value="true" />
+            <let name="false_value" value="false" />
+
+            <let name="not_true" value="$(not $(var true_value))" />
+            <let name="not_false" value="$(not $(var false_value))" />
+
+            <let name="and_true_true" value="$(and $(var true_value) $(var true_value))" />
+            <let name="and_true_false" value="$(and $(var true_value) $(var false_value))" />
+            <let name="and_false_true" value="$(and $(var false_value) $(var true_value))" />
+            <let name="and_false_false" value="$(and $(var false_value) $(var false_value))" />
+
+            <let name="or_true_true" value="$(or $(var true_value) $(var true_value))" />
+            <let name="or_true_false" value="$(or $(var true_value) $(var false_value))" />
+            <let name="or_false_true" value="$(or $(var false_value) $(var true_value))" />
+            <let name="or_false_false" value="$(or $(var false_value) $(var 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)
+    ls = LaunchService()
+    ls.include_launch_description(ld)
+    assert 0 == ls.run()
+
+    def perform(substitution):
+        return perform_substitutions(ls.context, substitution)
+
+    sub_entries = ld.describe_sub_entities()
+
+    not_true = sub_entries[2]
+    not_false = sub_entries[3]
+
+    and_true_true = sub_entries[4]
+    and_true_false = sub_entries[5]
+    and_false_true = sub_entries[6]
+    and_false_false = sub_entries[7]
+
+    or_true_true = sub_entries[8]
+    or_true_false = sub_entries[9]
+    or_false_true = sub_entries[10]
+    or_false_false = sub_entries[11]
+
+    assert perform(not_true.value) == 'false'
+    assert perform(not_false.value) == 'true'
+
+    assert perform(and_true_true.value) == 'true'
+    assert perform(and_true_false.value) == 'false'
+    assert perform(and_false_true.value) == 'false'
+    assert perform(and_false_false.value) == 'false'
+
+    assert perform(or_true_true.value) == 'true'
+    assert perform(or_true_false.value) == 'true'
+    assert perform(or_false_true.value) == 'true'
+    assert perform(or_false_false.value) == 'false'