def test_load_duplicate_names_multi_package():
workspaces = [os.path.join(test_data_dir, 'duplicate_names_multi_package')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
error_types = [type(x) for x in errors]
assert discovery.DuplicateNameException in error_types, error_types
def test_launch_manager_quiet(self):
with redirected_stdio():
workspaces = [
os.path.join(TEST_DIR, 'unit', 'discovery_workspaces',
'minimal')
]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(
spec_file_index)
assert not errors, errors
provider = 'minimal_pkg/minimal'
assert provider in spec_index.providers
lm = launch_manager.LaunchManager()
lm._LaunchManager__quiet = True
lm.run_capability_provider(spec_index.providers[provider],
spec_index.provider_paths[provider])
with assert_raises_regex(RuntimeError, 'is already running'):
lm.run_capability_provider(spec_index.providers[provider],
spec_index.provider_paths[provider])
with assert_raises_regex(RuntimeError,
'No running launch file with PID of'):
lm._LaunchManager__stop_by_pid(-1)
time.sleep(1) # Allow time for output to be produced
lm.stop()
def test_load_duplicate_names_semantic():
print('Testing duplicate_names_semantic workspace')
workspaces = [os.path.join(test_data_dir, 'duplicate_names_semantic')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
error_types = [type(x) for x in errors]
assert discovery.DuplicateNameException in error_types, error_types
def test_load_minimal():
workspaces = [os.path.join(test_data_dir, 'minimal')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
assert not errors
expected = sorted(['Minimal', 'minimal', 'SpecificMinimal', 'specific_minimal'])
assert sorted(spec_index.specs.keys()) == expected
assert spec_index.get_containing_package_name('Minimal') == 'minimal_pkg'
with assert_raises(RuntimeError):
spec_index.get_containing_package_name('NotASpecName')
assert sorted(spec_index.provider_names) == ['minimal', 'specific_minimal']
def test_launch_manager_no_launch_file_provider(self):
with redirected_stdio():
workspaces = [os.path.join(THIS_DIR, 'no_launch_file')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
assert not errors, errors
provider = 'minimal_pkg/minimal'
assert provider in spec_index.providers
lm = launch_manager.LaunchManager()
lm._LaunchManager__quiet = True
lm.run_capability_provider(spec_index.providers[provider], spec_index.provider_paths[provider])
time.sleep(1) # Allow time for output to be produced
lm.stop()
def __load_capabilities(self):
package_index = package_index_from_package_path(self.__package_paths)
self.spec_file_index = spec_file_index_from_package_index(
package_index)
# Prune packages by black and white list
for package in self.spec_file_index.keys():
if self.__package_whitelist and package not in self.__package_whitelist:
rospy.loginfo(
"Package '{0}' not in whitelist, skipping.".format(
package))
del self.spec_file_index[package]
if self.__package_blacklist and package in self.__package_blacklist:
rospy.loginfo(
"Package '{0}' in blacklist, skipping.".format(package))
del self.spec_file_index[package]
# Generate spec_index from spec file index
spec_index, errors = spec_index_from_spec_file_index(
self.spec_file_index)
if errors:
rospy.logerr("Errors were encountered loading capabilities:")
for error in errors:
rospy.logerr(" " + str(error.__class__.__name__) + ": " +
str(error))
# Prune specific capabilities based on black and white lists
removed_interfaces = []
for specs, remove_func in [
(spec_index.interfaces, spec_index.remove_interface),
(spec_index.semantic_interfaces,
spec_index.remove_semantic_interface),
(spec_index.providers, spec_index.remove_provider)
]:
for spec in specs.keys():
if self.__whitelist and spec not in self.__whitelist:
removed_interfaces.append(spec)
remove_func(spec)
rospy.loginfo(
"Spec '{0}' is not in the whitelist, skipping.".format(
spec))
if self.__blacklist and spec in self.__blacklist:
removed_interfaces.append(spec)
remove_func(spec)
rospy.loginfo(
"Spec '{0}' is in the blacklist, skipping.".format(
spec))
# Remove providers which no longer have an interface
for interface in removed_interfaces:
for provider in spec_index.providers.values():
if provider.implements == interface:
spec_index.remove_provider(provider.name)
self.__spec_index = spec_index
def __load_capabilities(self):
package_index = package_index_from_package_path(self.__package_paths)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
if errors:
rospy.logerr("Errors were encountered loading capabilities:")
for error in errors:
if type(error) == DuplicateNameException:
rospy.logerr(" DuplicateNameException: " + str(error))
elif type(error) == InterfaceNameNotFoundException:
rospy.logerr(" InterfaceNameNotFoundException: " +
str(error))
else:
rospy.logerr(" " + str(type(error)) + ": " + str(error))
self.__spec_index = spec_index
def __load_capabilities(self):
package_index = package_index_from_package_path(self.__package_paths)
self.spec_file_index = spec_file_index_from_package_index(package_index)
# Prune packages by black and white list
for package in self.spec_file_index.keys():
if self.__package_whitelist and package not in self.__package_whitelist:
rospy.loginfo("Package '{0}' not in whitelist, skipping.".format(package))
del self.spec_file_index[package]
elif self.__package_blacklist and package in self.__package_blacklist:
rospy.loginfo("Package '{0}' in blacklist, skipping.".format(package))
del self.spec_file_index[package]
# Generate spec_index from spec file index
spec_index, errors = spec_index_from_spec_file_index(self.spec_file_index)
if errors:
rospy.logerr("Errors were encountered loading capabilities:")
for error in errors:
rospy.logerr(" " + str(error.__class__.__name__) + ": " + str(error))
# Prune specific capabilities based on black and white lists
removed_interfaces = []
for specs, remove_func in [
(spec_index.interfaces, spec_index.remove_interface),
(spec_index.semantic_interfaces, spec_index.remove_semantic_interface),
(spec_index.providers, spec_index.remove_provider)
]:
for spec in specs.keys():
if self.__whitelist and spec not in self.__whitelist:
removed_interfaces.append(spec)
remove_func(spec)
rospy.loginfo("Spec '{0}' is not in the whitelist, skipping.".format(spec))
elif self.__blacklist and spec in self.__blacklist:
removed_interfaces.append(spec)
remove_func(spec)
rospy.loginfo("Spec '{0}' is in the blacklist, skipping.".format(spec))
# Remove providers which no longer have an interface
for interface in removed_interfaces:
for provider in spec_index.providers.values():
if provider.implements == interface:
spec_index.remove_provider(provider.name)
self.__spec_index = spec_index
# Prune spec_file_index
spec_paths = spec_index.interface_paths.values() + \
spec_index.semantic_interface_paths.values() + \
spec_index.provider_paths.values()
for package_name, package_dict in self.spec_file_index.items():
for spec_type in ['capability_interface', 'semantic_capability_interface', 'capability_provider']:
package_dict[spec_type][:] = [path for path in package_dict[spec_type] if path in spec_paths]
def test_load_minimal():
print('Testing minimal workspace')
workspaces = [os.path.join(test_data_dir, 'minimal')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
assert not errors, errors
expected = sorted([
'minimal_pkg/Minimal', 'minimal_pkg/minimal',
'minimal_pkg/SpecificMinimal', 'minimal_pkg/specific_minimal'
])
assert sorted(spec_index.specs.keys()) == expected
assert sorted(spec_index.provider_names) == [
'minimal_pkg/minimal', 'minimal_pkg/specific_minimal'
]
assert 'minimal_pkg/Minimal' in spec_index.interface_paths
assert 'minimal_pkg/minimal' in spec_index.provider_paths
assert 'minimal_pkg/SpecificMinimal' in spec_index.semantic_interface_paths
def test_launch_manager_quiet(self):
with redirected_stdio():
workspaces = [os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'minimal')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
assert not errors, errors
provider = 'minimal_pkg/minimal'
assert provider in spec_index.providers
lm = launch_manager.LaunchManager()
lm._LaunchManager__quiet = True
lm.run_capability_provider(spec_index.providers[provider], spec_index.provider_paths[provider])
with assert_raises_regex(RuntimeError, 'is already running'):
lm.run_capability_provider(spec_index.providers[provider], spec_index.provider_paths[provider])
with assert_raises_regex(RuntimeError, 'No running launch file with PID of'):
lm._LaunchManager__stop_by_pid(-1)
time.sleep(1) # Allow time for output to be produced
lm.stop()
def test_load_minimal():
print('Testing minimal workspace')
workspaces = [os.path.join(test_data_dir, 'minimal')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
assert not errors, errors
expected = sorted([
'minimal_pkg/Minimal',
'minimal_pkg/minimal',
'minimal_pkg/SpecificMinimal',
'minimal_pkg/specific_minimal'
])
assert sorted(spec_index.specs.keys()) == expected
assert sorted(spec_index.provider_names) == ['minimal_pkg/minimal', 'minimal_pkg/specific_minimal']
assert 'minimal_pkg/Minimal' in spec_index.interface_paths
assert 'minimal_pkg/minimal' in spec_index.provider_paths
assert 'minimal_pkg/SpecificMinimal' in spec_index.semantic_interface_paths
def test_load_missing_interface():
print('Testing missing_interface workspace')
workspaces = [os.path.join(test_data_dir, 'missing_interface')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
def test_load_invalid_specs():
print('Testing invalid_specs workspace')
workspaces = [os.path.join(test_data_dir, 'invalid_specs')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
def test_load_missing_interface():
print('Testing missing_interface workspace')
workspaces = [os.path.join(test_data_dir, 'missing_interface')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
def test_load_invalid_specs():
print('Testing invalid_specs workspace')
workspaces = [os.path.join(test_data_dir, 'invalid_specs')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
def test_load_invalid_specs():
workspaces = [os.path.join(test_data_dir, 'invalid_specs')]
package_index = package_index_from_package_path(workspaces)
spec_file_index = spec_file_index_from_package_index(package_index)
spec_index, errors = spec_index_from_spec_file_index(spec_file_index)
assert discovery.InterfaceNameNotFoundException in [type(x) for x in errors]
