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Drops legacy launch API usage. #387

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merged 2 commits into from
Feb 27, 2019
Merged

Drops legacy launch API usage. #387

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a4586c3
Drops legacy launch API usage.
hidmic Feb 7, 2019
d244bf5
Adds launch_testing as test dependency.
hidmic Feb 11, 2019
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2 changes: 1 addition & 1 deletion rcl/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
<test_depend>ament_lint_common</test_depend>
<test_depend>rmw</test_depend>
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_testing</test_depend>
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Just a note: this adds another case of a circular repository dependency (same as for the test dependency on launch).

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This doesn't make that case any worse, but it is just an actual circular dependency. The testing code will likely need to be split into ROS and non-ROS parts like launch itself is, otherwise anything at or below rclcpp/rclpy will not be able to use any of it.

<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>test_msgs</test_depend>

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37 changes: 21 additions & 16 deletions rcl/test/rcl/test_rmw_impl_id_check.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -2,35 +2,40 @@

import os

from launch.legacy import LaunchDescriptor
from launch.legacy.launcher import DefaultLauncher
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch_testing import LaunchTestService


def launch_test(
rmw_implementation_env=None, rcl_assert_rmw_id_matches_env=None, expect_failure=False
):
ld = LaunchDescriptor()
launch_test = LaunchTestService()
launch_description = LaunchDescription()

env = dict(os.environ)
if rmw_implementation_env is not None:
env['RMW_IMPLEMENTATION'] = rmw_implementation_env
env['RMW_IMPLEMENTATION'] = rmw_implementation_env
if rcl_assert_rmw_id_matches_env is not None:
env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env

ld.add_process(
cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
env=env,
env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env

launch_test.add_test_action(
launch_description, ExecuteProcess(
cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
env=env,
)
)

launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
launch_service = LaunchService()
launch_service.include_launch_description(launch_description)
rc = launch_test.run(launch_service)

if expect_failure:
assert rc != 0, 'The executable did not fail as expected.'
assert rc != 0, 'The executable did not fail as expected.'
else:
assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "
assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "


def test_rmw_implementation_env():
Expand Down Expand Up @@ -71,6 +76,6 @@ def test_both():


if __name__ == '__main__':
test_rmw_impl_env()
test_rmw_implementation_env()
test_rcl_assert_rmw_id_matches_env()
test_both()
37 changes: 20 additions & 17 deletions rcl/test/rcl/test_two_executables.py.in
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Original file line number Diff line number Diff line change
@@ -1,29 +1,32 @@
# generated from rcl/test/test_two_executables.py.in

from launch.legacy import LaunchDescriptor
from launch.legacy.exit_handler import ignore_signal_exit_handler
from launch.legacy.exit_handler import primary_exit_handler
from launch.legacy.launcher import DefaultLauncher
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch_testing import LaunchTestService


def @TEST_NAME@():
ld = LaunchDescriptor()

ld.add_process(
cmd=['@TEST_EXECUTABLE1@'],
name='@TEST_EXECUTABLE1_NAME@',
exit_handler=ignore_signal_exit_handler,
launch_test = LaunchTestService()
launch_description = LaunchDescription()

launch_test.add_fixture_action(
launch_description, ExecuteProcess(
cmd=['@TEST_EXECUTABLE1@'],
name='@TEST_EXECUTABLE1_NAME@',
), exit_allowed=True
)

ld.add_process(
cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
name='@TEST_EXECUTABLE2_NAME@',
exit_handler=primary_exit_handler,
launch_test.add_test_action(
launch_description, ExecuteProcess(
cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
name='@TEST_EXECUTABLE2_NAME@',
)
)

launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
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) + "'. "

Expand Down