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_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_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_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)
