def test_launch_service_emit_event():
"""
Test the emitting of events in the LaunchService class.
Also covers basic tests for include_launch_description(), run(), and
shutdown().
"""
ls = LaunchService(debug=True)
assert ls._LaunchService__context._event_queue.qsize() == 0
from launch.actions import OpaqueFunction
from launch.actions import RegisterEventHandler
from launch.event_handler import EventHandler
handled_events = queue.Queue()
ld = LaunchDescription([
RegisterEventHandler(EventHandler(
matcher=lambda event: True,
entities=OpaqueFunction(
function=lambda context: handled_events.put(context.locals.event),
),
))
])
ls.include_launch_description(ld)
assert ls._LaunchService__context._event_queue.qsize() == 1
class MockEvent:
name = 'Event'
ls.emit_event(MockEvent())
assert ls._LaunchService__context._event_queue.qsize() == 2
assert handled_events.qsize() == 0
t = threading.Thread(target=ls.run, kwargs={'shutdown_when_idle': False})
t.start()
# First event (after including description of event handler).
handled_events.get(block=True, timeout=5.0)
# Emit and then check for a second event.
ls.emit_event(MockEvent())
handled_events.get(block=True, timeout=5.0)
# Shutdown (generates a third event) and join the thread.
ls.shutdown()
t.join()
# Check that the shutdown event was handled.
handled_events.get(block=False)
assert handled_events.qsize() == 0
ls.emit_event(MockEvent())
assert handled_events.qsize() == 0
assert ls.run(shutdown_when_idle=True) == 0
handled_events.get(block=False)
def test_launch_service_emit_event():
"""
Test the emitting of events in the LaunchService class.
Also covers basic tests for include_launch_description(), run(), and
shutdown().
"""
ls = LaunchService(debug=True)
assert ls._LaunchService__context._event_queue.qsize() == 0
from launch.actions import OpaqueFunction
from launch.actions import RegisterEventHandler
from launch.event_handler import EventHandler
handled_events = queue.Queue()
ld = LaunchDescription([
RegisterEventHandler(
EventHandler(
matcher=lambda event: not isinstance(event, ExecutionComplete),
entities=OpaqueFunction(function=lambda context: handled_events
.put(context.locals.event), ),
))
])
ls.include_launch_description(ld)
assert ls._LaunchService__context._event_queue.qsize() == 1
class MockEvent:
name = 'Event'
ls.emit_event(MockEvent())
assert ls._LaunchService__context._event_queue.qsize() == 2
assert handled_events.qsize() == 0
# Spin up a background thread for testing purposes.
def perform_test_sequence():
# First event (after including description of event handler).
handled_events.get(block=True, timeout=5.0)
# Emit and then check for a second event.
ls.emit_event(MockEvent())
handled_events.get(block=True, timeout=5.0)
# Shutdown (generates a third event).
ls.shutdown()
t = threading.Thread(target=perform_test_sequence)
t.start()
# Run the launch service.
assert ls.run(shutdown_when_idle=False) == 0
# Join background thread if still running.
t.join()
# Check that the shutdown event was handled.
handled_events.get(block=False)
assert handled_events.qsize() == 0
ls.emit_event(MockEvent())
assert handled_events.qsize() == 0
assert ls.run(shutdown_when_idle=True) == 0
# Check that the mock and shutdown events were handled.
assert handled_events.qsize() == 2
handled_events.get(block=False)
handled_events.get(block=False)
loop = osrf_pycommon.process_utils.get_loop()
assert loop.run_until_complete(ls.run_async(shutdown_when_idle=True)) == 0
# Check that the shutdown events was handled.
assert handled_events.qsize() == 1
handled_events.get(block=False)
