def test_configure_valid_type_param_mismatch(self, pipeline_manager,
proc_info, proc_output):
param = 'components'
req = ConfigurePipeline.Request()
pipeline_type = PipelineType()
test_type = 'example'
pipeline_type.type = test_type
req.pipeline_type = pipeline_type
test_file_name = 'test_param_mismatch'
req.config_file_name = test_file_name
future = self.configure_client.call_async(req)
while rclpy.ok():
rclpy.spin_once(self.node)
if future.done():
res = future.result()
if res.success is False:
proc_output.assertWaitFor(
expected_output=
'Could not get the pipeline parameter "{}", wrong type'
.format(param))
else:
self.fail('Expected configure pipeline service to fail'
' due to no parameter for yaml item'
' associated to pipeline type')
break
def test_configure_valid_type_yaml_component_package_mismatch(
self, pipeline_manager, proc_info, proc_output):
compnum = 1
packnum = 2
req = ConfigurePipeline.Request()
pipeline_type = PipelineType()
test_type = 'example'
pipeline_type.type = test_type
req.pipeline_type = pipeline_type
test_file_name = 'test_comp_pack_mismatch'
req.config_file_name = test_file_name
future = self.configure_client.call_async(req)
while rclpy.ok():
rclpy.spin_once(self.node)
if future.done():
res = future.result()
if res.success is False:
proc_output.assertWaitFor(
expected_output=
'Number of components and package names do not match, {} and {} respectively'
.format(compnum, packnum))
else:
self.fail('Expected configure pipeline service to fail'
' due to nonmatching component and'
' package name numbers')
break
def _send_configure_request(self, next_type):
"""
Helper for sending the ConfigurePipeline request
@param next_type: The next pipeline type to configure
"""
req = ConfigurePipeline.Request()
pipeline_type = PipelineType()
pipeline_type.type = next_type
req.pipeline_type = pipeline_type
return self.configure_client.call_async(req)
def test_run_pkg_not_valid(self, pipeline_manager, proc_info, proc_output):
req = ConfigurePipeline.Request()
pipeline_type = PipelineType()
test_type = 'example'
pipeline_type.type = test_type
req.pipeline_type = pipeline_type
test_file_name = 'test_run_pkg_not_valid'
req.config_file_name = test_file_name
future = self.configure_client.call_async(req)
while rclpy.ok():
rclpy.spin_once(self.node)
if future.done():
break
goal_msg = RunPipeline.Goal()
goal_msg.input = 0
future = self.run_client.send_goal_async(goal_msg)
future_count = 0
result = None
while rclpy.ok():
rclpy.spin_once(self.node)
if future.done():
future_count += 1
if future_count == 1:
future = future.result().get_result_async()
if future_count == 2:
result = future.result().result
break
if result.output == 1:
component = 'example::ComponentOne'
proc_output.assertWaitFor(
expected_output=
'Could not find requested resource in ament index')
proc_output.assertWaitFor(
expected_output='The component {} was not loaded successfully'.
format(component))
proc_output.assertWaitFor(expected_output='Aborting the pipeline')
else:
self.fail('Should abort from component not able to load')
def test_configure_invalid_type(self, pipeline_manager, proc_info,
proc_output):
req = ConfigurePipeline.Request()
pipeline_type = PipelineType()
test_type = 'no_exist'
pipeline_type.type = test_type
req.pipeline_type = pipeline_type
future = self.configure_client.call_async(req)
while rclpy.ok():
rclpy.spin_once(self.node)
if future.done():
res = future.result()
if res.success is False:
proc_output.assertWaitFor(
expected_output='Configuration of pipeline type "{}"'
' is not allowed, no such type'.format(test_type),
process=pipeline_manager)
else:
self.fail('Expected configure pipeline service to fail'
' due to non existent type')
break
def test_configure_valid_type_no_yaml(self, pipeline_manager, proc_info,
proc_output):
req = ConfigurePipeline.Request()
pipeline_type = PipelineType()
test_type = 'example'
pipeline_type.type = test_type
req.pipeline_type = pipeline_type
test_file_name = 'test_no_yaml'
req.config_file_name = test_file_name
future = self.configure_client.call_async(req)
while rclpy.ok():
rclpy.spin_once(self.node)
if future.done():
res = future.result()
if res.success is False:
proc_output.assertWaitFor(
expected_output='Could not find {}.yaml'.format(
test_file_name))
else:
self.fail('Expected configure pipeline service to fail'
' due to no yaml associated to pipeline type')
break