def test_colcon_defaults(tmpdir):
ws = Path(str(tmpdir))
this_dir = Path(__file__).parent
src = ws / 'src'
src.mkdir()
shutil.copytree(str(this_dir / 'dummy_pkg_ros2_cpp'),
str(src / 'dummy_pkg_ros2_cpp'))
shutil.copytree(str(this_dir / 'dummy_pkg_ros2_py'),
str(src / 'dummy_pkg_ros2_py'))
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
# no defaults file should get everything
gather_rosdeps(client, platform, workspace=ws)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' in result
assert 'ros-dashing-rclcpp' in result
assert 'ros-dashing-rclpy' in result
# write defaults file and expect selective dependency output
(ws / 'defaults.yaml').write_text("""
list:
packages-select: [dummy_pkg_ros2_py]
""")
gather_rosdeps(client, platform, workspace=ws)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' not in result
assert 'ros-dashing-rclcpp' not in result
assert 'ros-dashing-rclpy' in result
def test_install_rosdep_script_doesnot_exist(tmpdir):
ws = Path(str(tmpdir))
platform = Platform('aarch64', 'ubuntu', 'dashing')
data_file = ws / rosdep_install_script(platform)
data_file.parent.mkdir(parents=True)
with pytest.raises(RuntimeError):
assert_install_rosdep_script_exists(ws, platform)
def test_custom_rosdep_no_data_dir(tmpdir):
script_contents = """
cat > /test_rules.yaml <<EOF
definitely_does_not_exist:
ubuntu:
bionic: [successful_test]
EOF
echo "yaml file:/test_rules.yaml" > /etc/ros/rosdep/sources.list.d/22-test-rules.list
"""
ws = Path(str(tmpdir))
pkg_xml = Path(ws) / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(CUSTOM_KEY_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
rosdep_setup = ws / 'rosdep_setup.sh'
rosdep_setup.write_text(script_contents)
gather_rosdeps(client, platform, workspace=ws, custom_script=rosdep_setup)
out_script = ws / rosdep_install_script(platform)
result = out_script.read_text().splitlines()
expected = [
'#!/bin/bash',
'set -euxo pipefail',
'#[apt] Installation commands:',
' apt-get install -y successful_test',
]
assert result == expected, 'Rosdep output did not meet expectations.'
def test_install_rosdep_script_exist(tmpdir):
ws = Path(str(tmpdir))
platform = Platform('aarch64', 'ubuntu', 'dashing')
data_file = ws / rosdep_install_script(platform)
data_file.parent.mkdir(parents=True)
data_file.touch()
check_script = assert_install_rosdep_script_exists(ws, platform)
assert check_script
def test_dummy_skip_rosdep_multiple_keys_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = ws / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(RCLCPP_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
skip_keys = ['ament_cmake', 'rclcpp']
gather_rosdeps(client, platform, workspace=ws, skip_rosdep_keys=skip_keys)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' not in result
assert 'ros-dashing-rclcpp' not in result
def buildable_env(request, tmpdir):
"""Set up a temporary directory with everything needed to run the EmulatedDockerBuildStage."""
platform = Platform('aarch64', 'ubuntu', 'foxy')
ros_workspace = Path(str(tmpdir)) / 'ros_ws'
_touch_anywhere(ros_workspace / rosdep_install_script(platform))
build_context = prepare_docker_build_environment(platform, ros_workspace)
docker = DockerClient(disable_cache=False,
default_docker_dir=build_context)
options = default_pipeline_options()
data_collector = DataCollector()
CreateSysrootStage()(platform, docker, ros_workspace, options,
data_collector)
return BuildableEnv(platform, docker, ros_workspace, options,
data_collector)
def test_dummy_ros2_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = ws / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(RCLCPP_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
test_collector = DataCollector()
stage = CollectDependencyListStage()
stage(platform, client, ws, default_pipeline_options(), test_collector)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' in result
assert 'ros-dashing-rclcpp' in result
def test_dummy_ros2_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = ws / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(RCLCPP_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
# a default set of customizations for the dependencies stage
customizations = PipelineStageConfigOptions(False, [], None, None, None)
temp_stage = DependenciesStage()
temp_stage(platform, client, ws, customizations)
result = out_script.read_text()
assert 'ros-dashing-ament-cmake' in result
assert 'ros-dashing-rclcpp' in result
def test_dummy_ros2_pkg(tmpdir):
ws = Path(str(tmpdir))
pkg_xml = ws / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(RCLCPP_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
out_script = ws / rosdep_install_script(platform)
gather_rosdeps(client, platform, workspace=ws)
result = out_script.read_text().splitlines()
expected = [
'#!/bin/bash',
'set -euxo pipefail',
'#[apt] Installation commands:',
' apt-get install -y ros-dashing-ament-cmake',
' apt-get install -y ros-dashing-rclcpp',
]
assert result == expected, 'Rosdep output did not meet expectations.'
def test_custom_rosdep_no_data_dir(tmpdir):
script_contents = """
cat > /test_rules.yaml <<EOF
definitely_does_not_exist:
ubuntu:
bionic: [successful_test]
EOF
echo "yaml file:/test_rules.yaml" > /etc/ros/rosdep/sources.list.d/22-test-rules.list
"""
ws = Path(str(tmpdir))
pkg_xml = Path(ws) / 'src' / 'dummy' / 'package.xml'
pkg_xml.parent.mkdir(parents=True)
pkg_xml.write_text(CUSTOM_KEY_PKG_XML)
client = DockerClient()
platform = Platform(arch='aarch64', os_name='ubuntu', ros_distro='dashing')
rosdep_setup = ws / 'rosdep_setup.sh'
rosdep_setup.write_text(script_contents)
gather_rosdeps(client, platform, workspace=ws, custom_script=rosdep_setup)
out_script = ws / rosdep_install_script(platform)
result = out_script.read_text()
assert 'successful_test' in result
def test_custom_post_build_script(tmpdir):
created_filename = 'file-created-by-post-build'
platform = Platform('aarch64', 'ubuntu', 'foxy')
ros_workspace = Path(str(tmpdir)) / 'ros_ws'
_touch_anywhere(ros_workspace / rosdep_install_script(platform))
post_build_script = ros_workspace / 'post_build'
post_build_script.write_text("""
#!/bin/bash
echo "success" > {}
""".format(created_filename))
build_context = prepare_docker_build_environment(
platform, ros_workspace, custom_post_build_script=post_build_script)
docker = DockerClient(disable_cache=False,
default_docker_dir=build_context)
options = default_pipeline_options()
data_collector = DataCollector()
CreateSysrootStage()(platform, docker, ros_workspace, options,
data_collector)
EmulatedDockerBuildStage()(platform, docker, ros_workspace, options,
data_collector)
assert (ros_workspace / created_filename).is_file()
