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Replace ready_fn with ReadyToTest action #391

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Feb 4, 2020
Merged

Replace ready_fn with ReadyToTest action #391

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6 changes: 3 additions & 3 deletions test_cli_remapping/test/test_cli_remapping.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction
import launch_testing
import launch_testing.actions

import rclpy

Expand Down Expand Up @@ -65,7 +65,7 @@ def get_environment_variable(name):


@launch_testing.parametrize('executable', CLIENT_LIBRARY_EXECUTABLES)
def generate_test_description(executable, ready_fn):
def generate_test_description(executable):
command = [executable]
# Execute python files using same python used to start this test
env = dict(os.environ)
Expand All @@ -88,7 +88,7 @@ def generate_test_description(executable, ready_fn):
test_context[replacement_name] = replacement_value.format(**locals())

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)

return launch_description, test_context
Expand Down
6 changes: 3 additions & 3 deletions test_communication/test/test_action_client_server.py.in
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Expand Up @@ -6,9 +6,9 @@ import time

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions

import unittest

Expand All @@ -17,7 +17,7 @@ ACTION_TYPES = '@TEST_ACTION_TYPES@'.split(';')


@launch_testing.parametrize('action_type', ACTION_TYPES)
def generate_test_description(action_type, ready_fn):
def generate_test_description(action_type):
namespace = '/test_time_%s' % time.strftime('%H_%M_%S', time.gmtime())

launch_description = LaunchDescription()
Expand Down Expand Up @@ -55,7 +55,7 @@ def generate_test_description(action_type, ready_fn):
launch_description.add_action(action_client_process)

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down
6 changes: 3 additions & 3 deletions test_communication/test/test_publisher_subscriber.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,9 @@ import time

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions

import unittest

Expand All @@ -17,7 +17,7 @@ MESSAGE_TYPES = '@TEST_MESSAGE_TYPES@'.split(';')


@launch_testing.parametrize('message_type', MESSAGE_TYPES)
def generate_test_description(message_type, ready_fn):
def generate_test_description(message_type):
namespace = '/test_time_%s' % time.strftime('%H_%M_%S', time.gmtime())

launch_description = LaunchDescription()
Expand Down Expand Up @@ -54,7 +54,7 @@ def generate_test_description(message_type, ready_fn):
)
launch_description.add_action(subscriber_process)
launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down
6 changes: 3 additions & 3 deletions test_communication/test/test_requester_replier.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,9 @@ import time

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions

import unittest

Expand All @@ -17,7 +17,7 @@ SERVICE_TYPES = '@TEST_SERVICE_TYPES@'.split(';')


@launch_testing.parametrize('service_type', SERVICE_TYPES)
def generate_test_description(service_type, ready_fn):
def generate_test_description(service_type):
namespace = '/test_time_%s' % time.strftime('%H_%M_%S', time.gmtime())

launch_description = LaunchDescription()
Expand Down Expand Up @@ -55,7 +55,7 @@ def generate_test_description(service_type, ready_fn):
launch_description.add_action(requester_process)

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down
6 changes: 3 additions & 3 deletions test_rclcpp/test/test_executable_output.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -3,17 +3,17 @@

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing_ros

import os
import unittest


def generate_test_description(ready_fn):
def generate_test_description():
env = os.environ.copy()
env['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '[{severity}] [{name}]: {message}'
launch_description = LaunchDescription()
Expand All @@ -26,7 +26,7 @@ def generate_test_description(ready_fn):
)
launch_description.add_action(proc_under_test)
launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down
6 changes: 3 additions & 3 deletions test_rclcpp/test/test_n_nodes.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ import os

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing_ros

import unittest


def generate_test_description(ready_fn):
def generate_test_description():
launch_description = LaunchDescription()

env = None
Expand All @@ -37,7 +37,7 @@ def generate_test_description(ready_fn):
)
launch_description.add_action(checking_process)
launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down
10 changes: 5 additions & 5 deletions test_rclcpp/test/test_two_executables.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ import os

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration

import launch_testing
import launch_testing.actions
import launch_testing.asserts

import unittest


def generate_test_description(ready_fn):
def generate_test_description():
launch_description = LaunchDescription()

cmd = ['@TEST_EXECUTABLE1@']
Expand Down Expand Up @@ -48,16 +48,16 @@ def generate_test_description(ready_fn):
launch_description.add_action(executable_2)

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()


class TestTwoExecutables(unittest.TestCase):

def @TEST_NAME@(self, executable_2):
def @TEST_NAME@(self, executable_2, proc_info):
"""Test that the second executable terminates after a finite amount of time."""
self.proc_info.assertWaitForShutdown(process=executable_2, timeout=60)
proc_info.assertWaitForShutdown(process=executable_2, timeout=60)


@launch_testing.post_shutdown_test()
Expand Down
6 changes: 3 additions & 3 deletions test_security/test/test_secure_publisher_subscriber.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,14 @@ import os

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import OpaqueFunction

import launch_testing
import launch_testing.actions

import unittest


def generate_test_description(ready_fn):
def generate_test_description():
# TODO Timestamping tests via the node's namespace is no longer appropriate,
# given the FQN is used to lookup security artifacts from secure root directory.
# namespace = '/test_time_%s' % time.strftime('%H_%M_%S', time.gmtime())
Expand Down Expand Up @@ -66,7 +66,7 @@ def generate_test_description(ready_fn):
launch_description.add_action(subscriber_process)

launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
launch_testing.actions.ReadyToTest()
)
return launch_description, locals()

Expand Down