def setUpClass(cls):
# It's easier to actually capture some IO from the launch system than it is to fake it
# but it takes a few seconds. We'll do it once and run tests on the same captured
# IO
proc_env = os.environ.copy()
proc_env['PYTHONUNBUFFERED'] = '1'
cls.proc_output = ActiveIoHandler()
cls.proc_1 = launch.actions.ExecuteProcess(cmd=TEST_CMD,
name='terminating_proc',
env=proc_env)
# This process should be distinguishable by its cmd line args
cls.proc_2 = launch.actions.ExecuteProcess(cmd=TEST_CMD + ['--extra'],
name='terminating_proc',
env=proc_env)
# This process should be distinguishable by its different name
cls.proc_3 = launch.actions.ExecuteProcess(cmd=TEST_CMD +
['node:=different_name'],
name='terminating_proc',
env=proc_env)
launch_description = launch.LaunchDescription([
cls.proc_1,
cls.proc_2,
cls.proc_3,
# This plumbs all the output to our IoHandler just like the LaunchTestRunner does
RegisterEventHandler(
OnProcessStart(on_start=lambda event, _: cls.proc_output.track(
event.process_name))),
RegisterEventHandler(
OnProcessIO(
on_stdout=cls.proc_output.append,
on_stderr=cls.proc_output.append,
))
])
launch_service = launch.LaunchService()
launch_service.include_launch_description(launch_description)
launch_service.run()
def setUpClass(cls):
# It's easier to actually capture some IO from the launch system than it is to fake it
# but it takes a few seconds. We'll do it once and run tests on the same captured
# IO
proc_env = os.environ.copy()
proc_env["PYTHONUNBUFFERED"] = "1"
cls.proc_output = ActiveIoHandler()
cls.proc_1 = launch.actions.ExecuteProcess(
cmd=[TEST_PROC_PATH],
env=proc_env
)
# This process should be distinguishable by its cmd line args
cls.proc_2 = launch.actions.ExecuteProcess(
cmd=[TEST_PROC_PATH, '--extra'],
env=proc_env
)
# This process should be distinguishable by its different name
cls.proc_3 = launch.actions.ExecuteProcess(
cmd=[TEST_PROC_PATH, 'node:=different_name'],
env=proc_env
)
launch_description = launch.LaunchDescription([
cls.proc_1,
cls.proc_2,
cls.proc_3,
# This plumbs all the output to our IoHandler just like the ApexRunner does
RegisterEventHandler(
OnProcessIO(
on_stdout=cls.proc_output.append,
on_stderr=cls.proc_output.append,
)
)
])
launch_service = launch.LaunchService()
launch_service.include_launch_description(launch_description)
launch_service.run()
def setUpClass(cls):
# It's easier to actually capture some IO from the launch system than it is to fake it
# but it takes a few seconds. We'll do it once and run tests on the same captured
# IO
node_env = os.environ.copy()
node_env["PYTHONUNBUFFERED"] = "1"
cls.proc_output = ActiveIoHandler()
cls.node_1 = Node(package='apex_rostest',
node_executable='terminating_node',
env=node_env)
# This node should be distinguishable by its cmd line args
cls.node_2 = Node(package='apex_rostest',
node_executable='terminating_node',
arguments=['--extra'],
env=node_env)
# This node should be distinguishable by its diffetent node name
cls.node_3 = Node(package='apex_rostest',
node_executable='terminating_node',
node_name='different_name',
env=node_env)
launch_description = LaunchDescription([
cls.node_1,
cls.node_2,
cls.node_3,
# This plumbs all the output to our IoHandler just like the ApexRunner does
RegisterEventHandler(
OnProcessIO(
on_stdout=cls.proc_output.append,
on_stderr=cls.proc_output.append,
))
])
launch_service = LaunchService()
launch_service.include_launch_description(launch_description)
launch_service.run()
def run(self):
"""
Launch the processes under test and run the tests.
:return: A tuple of two unittest.Results - one for tests that ran while processes were
active, and another set for tests that ran after processes were shutdown
"""
test_ld, test_context = _normalize_ld(self._gen_launch_description_fn)(
lambda: self._processes_launched.set())
# Data to squirrel away for post-shutdown tests
self.proc_info = ActiveProcInfoHandler()
self.proc_output = ActiveIoHandler()
self.test_context = test_context
parsed_launch_arguments = parse_launch_arguments(
self._launch_file_arguments)
self.test_args = {}
for k, v in parsed_launch_arguments:
self.test_args[k] = v
# Wrap the test_ld in another launch description so we can bind command line arguments to
# the test and add our own event handlers for process IO and process exit:
launch_description = LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.LaunchDescriptionSource(launch_description=test_ld),
launch_arguments=parsed_launch_arguments),
RegisterEventHandler(
OnProcessExit(
on_exit=lambda info, unused: self.proc_info.append(info))),
RegisterEventHandler(
OnProcessIO(
on_stdout=self.proc_output.append,
on_stderr=self.proc_output.append,
)),
])
self._launch_service.include_launch_description(launch_description)
self._test_tr.start() # Run the tests on another thread
self._launch_service.run(
) # This will block until the test thread stops it
if not self._tests_completed.wait(timeout=0):
# LaunchService.run returned before the tests completed. This can be because the user
# did ctrl+c, or because all of the launched nodes died before the tests completed
print("Processes under test stopped before tests completed")
self._print_process_output_summary(
) # <-- Helpful to debug why processes died early
# We treat this as a test failure and return some test results indicating such
return FailResult(), FailResult()
# Now, run the post-shutdown tests
inactive_suite = PostShutdownTestLoader(
injected_attributes={
"proc_info": self.proc_info,
"proc_output": self.proc_output._io_handler,
"test_args": self.test_args,
},
injected_args=dict(
self.test_context,
# Add a few more things to the args dictionary:
**{
"proc_info": self.proc_info,
"proc_output": self.proc_output._io_handler,
"test_args": self.test_args
})).loadTestsFromModule(self._test_module)
inactive_results = unittest.TextTestRunner(
verbosity=2, resultclass=TestResult).run(inactive_suite)
return self._results, inactive_results
def add_output_test(
self,
launch_description,
action,
output_test,
test_suffix='output',
output_filter=None,
side_effect=None,
):
"""
Test an action process' output against a given test.
:param launch_description: test launch description that owns the given action.
:param action: launch action to test whose output is to be tested.
:param output_test: test tuple as returned by launch_testing.output.create_* functions.
:param test_suffix: an optional test suffix to disambiguate multiple test instances,
defaults to 'output'.
:param output_filter: an optional function to filter out i.e. ignore output lines for
the test.
:param side_effect: an optional side effect of a passing test, currently only 'shutdown'
is supported.
"""
assert isinstance(action, ExecuteProcess)
test_name = 'test_{}_{}'.format(id(action), test_suffix)
out, collate_output, match_output, match_patterns = output_test
if not output_filter:
output_filter = (lambda x: x)
assert any(match_patterns)
def on_process_exit(event, context):
nonlocal match_patterns
if any(match_patterns):
# Finish test instead of failing to prevent process exit
# and process output event handlers from racing.
return self._finish(test_name)
launch_description.add_action(
RegisterEventHandler(
OnProcessExit(target_action=action, on_exit=on_process_exit)))
def on_shutdown(event, context):
nonlocal match_patterns
if any(match_patterns):
process_name = action.process_details['name']
reason = 'not all {} output matched!'.format(process_name)
self._fail(test_name, reason)
self._succeed(test_name, side_effect)
launch_description.add_action(
RegisterEventHandler(OnShutdown(on_shutdown=on_shutdown)))
def on_process_stdout(event):
nonlocal out
nonlocal match_patterns
out = collate_output(out, output_filter(event.text))
match_patterns = [
pattern for pattern in match_patterns
if not match_output(out, pattern)
]
if not any(match_patterns):
return self._succeed(test_name, side_effect)
return None
launch_description.add_action(
RegisterEventHandler(
OnProcessIO(target_action=action,
on_stdout=on_process_stdout)))
self._arm(test_name)
return action
def run(self):
"""
Launch the processes under test and run the tests.
:return: A tuple of two unittest.Results - one for tests that ran while processes were
active, and another set for tests that ran after processes were shutdown
"""
test_ld, test_context = self._test_run.normalized_test_description(
ready_fn=lambda: self._processes_launched.set())
# Data that needs to be bound to the tests:
proc_info = ActiveProcInfoHandler()
proc_output = ActiveIoHandler()
full_context = dict(test_context, **self._test_run.param_args)
# TODO pete: this can be simplified as a call to the dict ctor:
parsed_launch_arguments = parse_launch_arguments(
self._launch_file_arguments)
test_args = {}
for k, v in parsed_launch_arguments:
test_args[k] = v
self._test_run.bind(
self._test_run.pre_shutdown_tests,
injected_attributes={
'proc_info': proc_info,
'proc_output': proc_output,
'test_args': test_args,
},
injected_args=dict(
full_context,
# Add a few more things to the args dictionary:
**{
'proc_info': proc_info,
'proc_output': proc_output,
'test_args': test_args
}))
self._test_run.bind(
self._test_run.post_shutdown_tests,
injected_attributes={
'proc_info': proc_info._proc_info_handler,
'proc_output': proc_output._io_handler,
'test_args': test_args,
},
injected_args=dict(
full_context,
# Add a few more things to the args dictionary:
**{
'proc_info': proc_info._proc_info_handler,
'proc_output': proc_output._io_handler,
'test_args': test_args
}))
# Wrap the test_ld in another launch description so we can bind command line arguments to
# the test and add our own event handlers for process IO and process exit:
launch_description = LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.LaunchDescriptionSource(launch_description=test_ld),
launch_arguments=parsed_launch_arguments),
RegisterEventHandler(
OnProcessExit(
on_exit=lambda info, unused: proc_info.append(info))),
RegisterEventHandler(
OnProcessIO(
on_stdout=proc_output.append,
on_stderr=proc_output.append,
)),
])
self._launch_service.include_launch_description(launch_description)
self._test_tr.start() # Run the tests on another thread
self._launch_service.run(
) # This will block until the test thread stops it
if not self._tests_completed.wait(timeout=0):
# LaunchService.run returned before the tests completed. This can be because the user
# did ctrl+c, or because all of the launched nodes died before the tests completed
print('Processes under test stopped before tests completed')
# Give some extra help debugging why processes died early
self._print_process_output_summary(proc_info, proc_output)
# We treat this as a test failure and return some test results indicating such
raise _LaunchDiedException()
inactive_results = unittest.TextTestRunner(
verbosity=2,
resultclass=TestResult).run(self._test_run.post_shutdown_tests)
self._results.append(inactive_results)
return self._results
def run(self):
"""
Launch the nodes under test and run the tests.
:return: A tuple of two unittest.Results - one for tests that ran while nodes were
active, and another set for tests that ran after nodes were shutdown
"""
test_ld = self._gen_launch_description_fn(
lambda: self._nodes_launched.set())
# Data to squirrel away for post-shutdown tests
self.proc_info = ActiveProcInfoHandler()
self.proc_output = ActiveIoHandler()
parsed_launch_arguments = parse_launch_arguments(
self._launch_file_arguments)
self.test_args = {}
for k, v in parsed_launch_arguments:
self.test_args[k] = v
# Wrap the test_ld in another launch description so we can bind command line arguments to
# the test and add our own event handlers for process IO and process exit:
launch_description = LaunchDescription([
launch.actions.IncludeLaunchDescription(
launch.LaunchDescriptionSource(launch_description=test_ld),
launch_arguments=parsed_launch_arguments),
RegisterEventHandler(
OnProcessExit(
on_exit=lambda info, unused: self.proc_info.append(info))),
RegisterEventHandler(
OnProcessIO(
on_stdout=self.proc_output.append,
on_stderr=self.proc_output.append,
)),
])
self._launch_service.include_launch_description(launch_description)
self._test_tr.start() # Run the tests on another thread
self._launch_service.run(
) # This will block until the test thread stops it
if not self._tests_completed.wait(timeout=0):
# LaunchService.run returned before the tests completed. This can be because the user
# did ctrl+c, or because all of the launched nodes died before the tests completed
# We should treat this as a test failure and return some test results indicating such
print("Nodes under test stopped before tests completed")
# TODO: This will make the program exit with an exit code, but it's not apparent
# why. Consider having apex_rostest_main print some summary
return _fail_result(), _fail_result()
# Now, run the post-shutdown tests
inactive_suite = PostShutdownTestLoader().loadTestsFromModule(
self._test_module)
self._give_attribute_to_tests(self.proc_info, "proc_info",
inactive_suite)
self._give_attribute_to_tests(self.proc_output._io_handler,
"proc_output", inactive_suite)
self._give_attribute_to_tests(self.test_args, "test_args",
inactive_suite)
inactive_results = unittest.TextTestRunner(
verbosity=2, resultclass=TestResult).run(inactive_suite)
return self._results, inactive_results
def generate_launch_description():
timeout = LaunchConfiguration("timeout", default=10.0)
scenario = LaunchConfiguration("scenario", default="")
scenario_package = LaunchConfiguration("package",
default="cpp_mock_scenarios")
junit_path = LaunchConfiguration("junit_path",
default="/tmp/output.xunit.xml")
launch_rviz = LaunchConfiguration("launch_rviz", default=False)
scenario_node = Node(
package=scenario_package,
executable=scenario,
name=scenario,
output="screen",
arguments=[("__log_level:=info")],
parameters=[{
"junit_path": junit_path,
"timeout": timeout
}],
)
io_handler = OnProcessIO(
target_action=scenario_node,
on_stderr=on_stderr_output,
on_stdout=on_stdout_output,
)
shutdown_handler = OnProcessExit(target_action=scenario_node,
on_exit=[EmitEvent(event=Shutdown())])
description = LaunchDescription([
DeclareLaunchArgument("scenario",
default_value=scenario,
description="Name of the scenario."),
DeclareLaunchArgument(
"package",
default_value=scenario_package,
description="Name of package your scenario exists",
),
DeclareLaunchArgument("timeout",
default_value=timeout,
description="Timeout in seconds."),
DeclareLaunchArgument(
"junit_path",
default_value=junit_path,
description="Path of the junit output.",
),
DeclareLaunchArgument(
"launch_rviz",
default_value=launch_rviz,
description="If true, launch with rviz.",
),
scenario_node,
RegisterEventHandler(event_handler=io_handler),
RegisterEventHandler(event_handler=shutdown_handler),
Node(
package="simple_sensor_simulator",
executable="simple_sensor_simulator_node",
name="simple_sensor_simulator_node",
output="log",
arguments=[("__log_level:=warn")],
),
Node(
package="openscenario_visualization",
executable="openscenario_visualization_node",
name="openscenario_visualization_node",
output="screen",
),
Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output={
"stderr": "log",
"stdout": "log"
},
condition=IfCondition(launch_rviz),
arguments=[
"-d",
str(
Path(get_package_share_directory("cpp_mock_scenarios")) /
"rviz/mock_test.rviz"),
],
),
])
return description
