def test_launch_description_source_constructors():
"""Test the constructors for LaunchDescriptionSource class."""
LaunchDescriptionSource()
LaunchDescriptionSource(LaunchDescription())
LaunchDescriptionSource(LaunchDescription(), 'location')
LaunchDescriptionSource(LaunchDescription(), 'location',
'method description')
def test_include_launch_description_launch_file_location():
"""Test the ability of the IncludeLaunchDescription class to set the launch file location."""
ld = LaunchDescription()
action = IncludeLaunchDescription(LaunchDescriptionSource(ld, '<script>'))
assert 'IncludeLaunchDescription' in action.describe()
assert isinstance(action.describe_sub_entities(), list)
assert isinstance(action.describe_conditional_sub_entities(), list)
lc1 = LaunchContext()
# Result should only contain the launch description as there are no launch arguments.
assert action.visit(lc1) == [ld]
assert lc1.locals.current_launch_file_directory == '<script>'
assert action.get_asyncio_future() is None
this_file = os.path.abspath(__file__)
ld2 = LaunchDescription()
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2, this_file))
assert 'IncludeLaunchDescription' in action2.describe()
assert isinstance(action2.describe_sub_entities(), list)
assert isinstance(action2.describe_conditional_sub_entities(), list)
lc2 = LaunchContext()
# Result should only contain the launch description as there are no launch arguments.
assert action2.visit(lc2) == [ld2]
assert lc2.locals.current_launch_file_directory == os.path.dirname(
this_file)
assert action2.get_asyncio_future() is None
def test_include_launch_description_methods():
"""Test the methods of the IncludeLaunchDescription class."""
ld = LaunchDescription()
action = IncludeLaunchDescription(LaunchDescriptionSource(ld))
assert 'IncludeLaunchDescription' in action.describe()
assert isinstance(action.describe_sub_entities(), list)
assert isinstance(action.describe_conditional_sub_entities(), list)
assert action.visit(LaunchContext()) == [ld]
assert action.get_asyncio_future() is None
ld2 = LaunchDescription([action])
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2))
assert 'IncludeLaunchDescription' in action2.describe()
assert isinstance(action2.describe_sub_entities(), list)
assert isinstance(action2.describe_conditional_sub_entities(), list)
assert action2.visit(LaunchContext()) == [ld2]
assert action2.get_asyncio_future() is None
def test_include_launch_description_launch_arguments():
"""Test the interactions between declared launch arguments and IncludeLaunchDescription."""
# test that arguments are set when given, even if they are not declared
ld1 = LaunchDescription([])
action1 = IncludeLaunchDescription(
LaunchDescriptionSource(ld1),
launch_arguments={'foo': 'FOO'}.items(),
)
assert len(action1.launch_arguments) == 1
lc1 = LaunchContext()
result1 = action1.visit(lc1)
assert len(result1) == 2
assert isinstance(result1[0], SetLaunchConfiguration)
assert perform_substitutions(lc1, result1[0].name) == 'foo'
assert perform_substitutions(lc1, result1[0].value) == 'FOO'
assert result1[1] == ld1
# test that a declared argument that is not provided raises an error
ld2 = LaunchDescription([DeclareLaunchArgument('foo')])
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2))
lc2 = LaunchContext()
with pytest.raises(RuntimeError) as excinfo2:
action2.visit(lc2)
assert 'Included launch description missing required argument' in str(
excinfo2)
# test that a declared argument that is not provided raises an error, but with other args set
ld2 = LaunchDescription([DeclareLaunchArgument('foo')])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={'not_foo': 'NOT_FOO'}.items(),
)
lc2 = LaunchContext()
with pytest.raises(RuntimeError) as excinfo2:
action2.visit(lc2)
assert 'Included launch description missing required argument' in str(
excinfo2)
assert 'not_foo' in str(excinfo2)
# test that a declared argument with a default value that is not provided does not raise
ld2 = LaunchDescription(
[DeclareLaunchArgument('foo', default_value='FOO')])
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2))
lc2 = LaunchContext()
action2.visit(lc2)
def test_include_launch_description_methods():
"""Test the methods of the IncludeLaunchDescription class."""
ld = LaunchDescription()
action = IncludeLaunchDescription(LaunchDescriptionSource(ld))
assert 'IncludeLaunchDescription' in action.describe()
assert isinstance(action.describe_sub_entities(), list)
assert isinstance(action.describe_conditional_sub_entities(), list)
# Result should only contain the launch description as there are no launch arguments.
assert action.visit(LaunchContext()) == [ld]
assert action.get_asyncio_future() is None
assert len(action.launch_arguments) == 0
ld2 = LaunchDescription([action])
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2))
assert 'IncludeLaunchDescription' in action2.describe()
assert isinstance(action2.describe_sub_entities(), list)
assert isinstance(action2.describe_conditional_sub_entities(), list)
# Result should only contain the launch description as there are no launch arguments.
assert action2.visit(LaunchContext()) == [ld2]
assert action2.get_asyncio_future() is None
assert len(action2.launch_arguments) == 0
def test_launch_description_get_launch_arguments():
"""Test the get_launch_arguments() method of the LaunchDescription class."""
ld = LaunchDescription([])
assert len(ld.get_launch_arguments()) == 0
ld = LaunchDescription([DeclareLaunchArgument('foo')])
la = ld.get_launch_arguments()
assert len(la) == 1
assert la[0]._conditionally_included is False
ld = LaunchDescription(
[DeclareLaunchArgument('foo', condition=IfCondition('True'))])
la = ld.get_launch_arguments()
assert len(la) == 1
assert la[0]._conditionally_included is True
ld = LaunchDescription([
IncludeLaunchDescription(
LaunchDescriptionSource(
LaunchDescription([
DeclareLaunchArgument('foo'),
]))),
])
la = ld.get_launch_arguments()
assert len(la) == 1
assert la[0]._conditionally_included is False
this_dir = os.path.dirname(os.path.abspath(__file__))
ld = LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(this_dir,
'launch_file_with_argument.launch.py'))),
])
la = ld.get_launch_arguments()
assert len(la) == 1
assert la[0]._conditionally_included is False
ld = LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource([
# This will prevent loading of this launch file to find arguments in it.
ThisLaunchFileDir(),
'launch_file_with_argument.launch.py',
])),
])
la = ld.get_launch_arguments()
assert len(la) == 0
def test_launch_description_get_launch_arguments():
"""Test the get_launch_arguments() method of the LaunchDescription class."""
ld = LaunchDescription([])
assert len(ld.get_launch_arguments()) == 0
ld = LaunchDescription([DeclareLaunchArgument('foo')])
la = ld.get_launch_arguments()
assert len(la) == 1
assert la[0]._conditionally_included is False
ld = LaunchDescription(
[DeclareLaunchArgument('foo', condition=IfCondition('True'))])
la = ld.get_launch_arguments()
assert len(la) == 1
assert la[0]._conditionally_included is True
ld = LaunchDescription([
IncludeLaunchDescription(
LaunchDescriptionSource(
LaunchDescription([
DeclareLaunchArgument('foo'),
]))),
])
la = ld.get_launch_arguments()
assert len(la) == 1
this_dir = os.path.dirname(os.path.abspath(__file__))
ld = LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(this_dir,
'launch_file_with_argument.launch.py'))),
])
la = ld.get_launch_arguments()
assert len(la) == 1
# From issue #144: get_launch_arguments was broken when an entitity had conditional
# sub entities
class EntityWithConditional(LaunchDescriptionEntity):
def describe_conditional_sub_entities(self):
return [('String describing condition',
[DeclareLaunchArgument('foo')])]
ld = LaunchDescription([EntityWithConditional()])
la = ld.get_launch_arguments()
assert len(la) == 1
def test_include_launch_description_launch_arguments():
"""Test the interactions between declared launch arguments and IncludeLaunchDescription."""
# test that arguments are set when given, even if they are not declared
ld1 = LaunchDescription([])
action1 = IncludeLaunchDescription(
LaunchDescriptionSource(ld1),
launch_arguments={'foo': 'FOO'}.items(),
)
assert len(action1.launch_arguments) == 1
lc1 = LaunchContext()
result1 = action1.visit(lc1)
assert len(result1) == 2
assert isinstance(result1[0], SetLaunchConfiguration)
assert perform_substitutions(lc1, result1[0].name) == 'foo'
assert perform_substitutions(lc1, result1[0].value) == 'FOO'
assert result1[1] == ld1
# test that a declared argument that is not provided raises an error
ld2 = LaunchDescription([DeclareLaunchArgument('foo')])
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2))
lc2 = LaunchContext()
with pytest.raises(RuntimeError) as excinfo2:
action2.visit(lc2)
assert 'Included launch description missing required argument' in str(
excinfo2.value)
# test that a declared argument that is not provided raises an error, but with other args set
ld2 = LaunchDescription([DeclareLaunchArgument('foo')])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={'not_foo': 'NOT_FOO'}.items(),
)
lc2 = LaunchContext()
with pytest.raises(RuntimeError) as excinfo2:
action2.visit(lc2)
assert 'Included launch description missing required argument' in str(
excinfo2.value)
assert 'not_foo' in str(excinfo2.value)
# test that a declared argument with a default value that is not provided does not raise
ld2 = LaunchDescription(
[DeclareLaunchArgument('foo', default_value='FOO')])
action2 = IncludeLaunchDescription(LaunchDescriptionSource(ld2))
lc2 = LaunchContext()
action2.visit(lc2)
# Test that default arguments in nested IncludeLaunchDescription actions do not raise
ld1 = LaunchDescription(
[DeclareLaunchArgument('foo', default_value='FOO')])
action1 = IncludeLaunchDescription(LaunchDescriptionSource(ld1), )
ld2 = LaunchDescription([action1, DeclareLaunchArgument('foo2')])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={'foo2': 'FOO2'}.items(),
)
lc2 = LaunchContext()
action2.visit(lc2)
# Test that provided launch arguments of nested IncludeLaunchDescription actions do not raise
ld1 = LaunchDescription([DeclareLaunchArgument('foo')])
action1 = IncludeLaunchDescription(
LaunchDescriptionSource(ld1),
launch_arguments={'foo': 'FOO'}.items(),
)
ld2 = LaunchDescription([action1, DeclareLaunchArgument('foo2')])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={'foo2': 'FOO2'}.items(),
)
lc2 = LaunchContext()
action2.visit(lc2)
# Test that arguments can not be passed from the parent launch description
ld1 = LaunchDescription([DeclareLaunchArgument('foo')])
action1 = IncludeLaunchDescription(LaunchDescriptionSource(ld1))
ld2 = LaunchDescription([action1, DeclareLaunchArgument('foo2')])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={
'foo': 'FOO',
'foo2': 'FOO2'
}.items(),
)
ld3 = LaunchDescription([action2])
ls = LaunchService()
ls.include_launch_description(ld3)
assert 1 == ls.run()
# Test that arguments can be redeclared in the parent launch description
ld1 = LaunchDescription([DeclareLaunchArgument('foo')])
action1 = IncludeLaunchDescription(LaunchDescriptionSource(ld1))
ld2 = LaunchDescription(
[action1,
DeclareLaunchArgument('foo'),
DeclareLaunchArgument('foo2')])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={
'foo': 'FOO',
'foo2': 'FOO2'
}.items(),
)
lc2 = LaunchContext()
action2.visit(lc2)
# Test that arguments after a ResetLaunchConfigurations action are not checked
ld1 = LaunchDescription([DeclareLaunchArgument('foo')])
action1 = IncludeLaunchDescription(LaunchDescriptionSource(ld1))
ld2 = LaunchDescription([
DeclareLaunchArgument('foo2'),
ResetLaunchConfigurations(),
SetLaunchConfiguration('foo', 'asd'), action1
])
action2 = IncludeLaunchDescription(
LaunchDescriptionSource(ld2),
launch_arguments={'foo2': 'FOO2'}.items(),
)
lc2 = LaunchContext()
action2.visit(lc2)
def test_include_launch_description_constructors():
"""Test the constructors for IncludeLaunchDescription class."""
IncludeLaunchDescription(LaunchDescriptionSource(LaunchDescription()))
IncludeLaunchDescription(LaunchDescriptionSource(LaunchDescription()),
launch_arguments={'foo': 'FOO'}.items())
def test_launch_description_source_methods():
"""Test the methods of the LaunchDescriptionSource class."""
class MockLaunchContext:
...
lds = LaunchDescriptionSource()
with pytest.raises(RuntimeError):
lds.get_launch_description(MockLaunchContext())
ld = LaunchDescription()
lds = LaunchDescriptionSource(ld)
assert lds.get_launch_description(MockLaunchContext()) == ld
ld = LaunchDescription()
lds = LaunchDescriptionSource(ld, 'location')
assert lds.get_launch_description(MockLaunchContext()) == ld
assert lds.location == 'location'
ld = LaunchDescription()
lds = LaunchDescriptionSource(ld, 'location', 'method description')
assert lds.get_launch_description(MockLaunchContext()) == ld
assert lds.location == 'location'
assert lds.method == 'method description'
def test_launch_description_source_methods():
"""Test the methods of the LaunchDescriptionSource class."""
class MockLaunchContext:
def perform_substitution(self, substitution):
return substitution.perform(None)
lds = LaunchDescriptionSource()
with pytest.raises(RuntimeError):
lds.get_launch_description(MockLaunchContext())
ld = LaunchDescription()
lds = LaunchDescriptionSource(ld)
assert lds.get_launch_description(MockLaunchContext()) == ld
ld = LaunchDescription()
lds = LaunchDescriptionSource(ld, 'location')
assert lds.get_launch_description(MockLaunchContext()) == ld
assert lds.location == 'location'
ld = LaunchDescription()
lds = LaunchDescriptionSource(ld, 'location', 'method description')
assert lds.get_launch_description(MockLaunchContext()) == ld
assert lds.location == 'location'
assert lds.method == 'method description'
def test_include_launch_description_constructors():
"""Test the constructors for IncludeLaunchDescription class."""
IncludeLaunchDescription(LaunchDescriptionSource(LaunchDescription()))
