def test_load_string(self):
# make sure load_string isn't broken
loader = roslaunch.xmlloader.XmlLoader()
mock = RosLaunchMock()
# test with no <launch /> element
# #1582: test error message as well
try:
loader.load_string('<foo />', mock)
self.fail("no root lauch element passed")
except Exception, e:
self.assertEquals(str(e), "Invalid roslaunch XML syntax: no root <launch> tag")
def test_load_string(self):
# make sure load_string isn't broken
loader = roslaunch.xmlloader.XmlLoader()
mock = RosLaunchMock()
# test with no <launch /> element
# #1582: test error message as well
try:
loader.load_string('<foo />', mock)
self.fail("no root lauch element passed")
except Exception, e:
self.assertEquals(
str(e), "Invalid roslaunch XML syntax: no root <launch> tag")
def test_load_string(self):
# make sure load_string isn't broken
loader = roslaunch.xmlloader.XmlLoader()
mock = RosLaunchMock()
# test with no <launch /> element
# #1582: test error message as well
try:
loader.load_string('<foo />', mock)
self.fail("no root lauch element passed")
except Exception as e:
self.assertEquals(
str(e), "Invalid roslaunch XML syntax: no root <launch> tag")
f = open(os.path.join(self.xml_dir, 'test-node-valid.xml'), 'r')
try:
s = f.read()
finally:
f.close()
loader.load_string(s, mock)
# sanity check
self.assert_(mock.nodes)
self.assert_([n for n in mock.nodes if n.type == 'test_base'])
# check exception case
f = open(os.path.join(self.xml_dir, 'invalid-xml.xml'), 'r')
try:
s = f.read()
finally:
f.close()
try:
loader.load_string(s, mock)
self.fail('load_string should have thrown an exception')
except roslaunch.xmlloader.XmlParseException:
pass
def test_load_string(self):
# make sure load_string isn't broken
loader = roslaunch.xmlloader.XmlLoader()
mock = RosLaunchMock()
# test with no <launch /> element
# #1582: test error message as well
try:
loader.load_string('<foo />', mock)
self.fail("no root lauch element passed")
except Exception as e:
self.assertEquals(str(e), "Invalid roslaunch XML syntax: no root <launch> tag")
f = open(os.path.join(self.xml_dir, 'test-node-valid.xml'), 'r')
try:
s = f.read()
finally:
f.close()
loader.load_string(s, mock)
# sanity check
self.assert_(mock.nodes)
self.assert_([n for n in mock.nodes if n.type == 'test_base'])
# check exception case
f = open(os.path.join(self.xml_dir, 'invalid-xml.xml'), 'r')
try:
s = f.read()
finally:
f.close()
try:
loader.load_string(s, mock)
self.fail('load_string should have thrown an exception')
except roslaunch.xmlloader.XmlParseException:
pass
for f in roslaunch_files:
try:
logger.info('loading config file %s' % f)
loader.load(f, config, verbose=verbose)
except roslaunch.xmlloader.XmlParseException, e:
raise RLException(e)
except roslaunch.loader.LoadException, e:
raise RLException(e)
# we need this for the hardware test systems, which builds up
# roslaunch launch files in memory
if roslaunch_strs:
for launch_str in roslaunch_strs:
try:
logger.info('loading config file from string')
loader.load_string(launch_str, config)
except roslaunch.xmlloader.XmlParseException, e:
raise RLException('Launch string: %s\nException: %s' %
(launch_str, e))
except roslaunch.loader.LoadException, e:
raise RLException('Launch string: %s\nException: %s' %
(launch_str, e))
if port:
logger.info("overriding master port to %s" % port)
config.master.set_port(port)
# make sure our environment is correct
config.validate()
# choose machines for the nodes
class TestXmlLoader(unittest.TestCase):
def setUp(self):
from roslib.packages import get_pkg_dir
self.xml_dir = os.path.join(get_pkg_dir('test_roslaunch'), 'test',
'xml')
def _load(self, test_file):
loader = roslaunch.xmlloader.XmlLoader()
mock = RosLaunchMock()
self.assert_(os.path.exists(test_file),
"cannot locate test file %s" % test_file)
loader.load(test_file, mock)
return mock
def _load_valid_nodes(self, tests):
mock = self._load(os.path.join(self.xml_dir, 'test-node-valid.xml'))
nodes = [n for n in mock.nodes if n.type in tests]
self.assertEquals(len(tests), len(nodes))
return nodes
def _load_valid_rostests(self, tests):
mock = self._load(os.path.join(self.xml_dir, 'test-test-valid.xml'))
nodes = [n for n in mock.tests if n.type in tests]
self.assertEquals(len(tests), len(nodes))
return nodes
def _load_valid_machines(self, tests):
mock = self._load(os.path.join(self.xml_dir, 'test-machine-valid.xml'))
machines = [m for m in mock.machines if m.name in tests]
self.assertEquals(len(tests), len(machines))
return machines
def test_load_string(self):
# make sure load_string isn't broken
loader = roslaunch.xmlloader.XmlLoader()
mock = RosLaunchMock()
# test with no <launch /> element
# #1582: test error message as well
try:
loader.load_string('<foo />', mock)
self.fail("no root lauch element passed")
except Exception, e:
self.assertEquals(
str(e), "Invalid roslaunch XML syntax: no root <launch> tag")
f = open(os.path.join(self.xml_dir, 'test-node-valid.xml'), 'r')
try:
s = f.read()
finally:
f.close()
loader.load_string(s, mock)
# sanity check
self.assert_(mock.nodes)
self.assert_([n for n in mock.nodes if n.type == 'test_base'])
# check exception case
f = open(os.path.join(self.xml_dir, 'invalid-xml.xml'), 'r')
try:
s = f.read()
finally:
f.close()
try:
loader.load_string(s, mock)
self.fail('load_string should have thrown an exception')
except roslaunch.xmlloader.XmlParseException:
pass
# load the roslaunch_files into the config
for f in roslaunch_files:
try:
logger.info('loading config file %s'%f)
loader.load(f, config, verbose=verbose)
except roslaunch.xmlloader.XmlParseException, e:
raise RLException(e)
except roslaunch.loader.LoadException, e:
raise RLException(e)
# we need this for the hardware test systems, which builds up
# roslaunch launch files in memory
if roslaunch_strs:
for launch_str in roslaunch_strs:
try:
logger.info('loading config file from string')
loader.load_string(launch_str, config)
except roslaunch.xmlloader.XmlParseException, e:
raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
except roslaunch.loader.LoadException, e:
raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
# make sure our environment is correct
config.validate()
# choose machines for the nodes
if assign_machines:
config.assign_machines()
return config
def load_config_default(roslaunch_files, port, roslaunch_strs=None, loader=None, verbose=False, assign_machines=True, ignore_unset_args=False):
"""
Base routine for creating a ROSLaunchConfig from a set of
roslaunch_files and or launch XML strings and initializing it. This
config will have a core definition and also set the master to run
on port.
@param roslaunch_files: list of launch files to load. Each item may also
be a tuple where the first item is the launch file and the second item
is a string containing arguments.
@type roslaunch_files: [str|(str, str)]
@param port: roscore/master port override. Set to 0 or None to use default.
@type port: int
@param roslaunch_strs: (optional) roslaunch XML strings to load
@type roslaunch_strs: [str]
@param verbose: (optional) print info to screen about model as it is loaded.
@type verbose: bool
@param assign_machines: (optional) assign nodes to machines (default: True)
@type assign_machines: bool
@param ignore_unset_args: (optional) ignore default arg requirements (default: False)
@type ignore_unset_args: bool
@return: initialized rosconfig instance
@rytpe: L{ROSLaunchConfig} initialized rosconfig instance
@raises: RLException
"""
logger = logging.getLogger('roslaunch.config')
# This is the main roslaunch server process. Load up the
# files specified on the command line and launch the
# requested resourcs.
config = ROSLaunchConfig()
if port:
config.master.uri = rosgraph.network.create_local_xmlrpc_uri(port)
loader = loader or roslaunch.xmlloader.XmlLoader()
loader.ignore_unset_args = ignore_unset_args
# load the roscore file first. we currently have
# last-declaration wins rules. roscore is just a
# roslaunch file with special load semantics
load_roscore(loader, config, verbose=verbose)
# load the roslaunch_files into the config
for f in roslaunch_files:
if isinstance(f, tuple):
f, args = f
else:
args = None
try:
logger.info('loading config file %s'%f)
loader.load(f, config, argv=args, verbose=verbose)
except roslaunch.xmlloader.XmlParseException as e:
raise RLException(e)
except roslaunch.loader.LoadException as e:
raise RLException(e)
# we need this for the hardware test systems, which builds up
# roslaunch launch files in memory
if roslaunch_strs:
for launch_str in roslaunch_strs:
try:
logger.info('loading config file from string')
loader.load_string(launch_str, config)
except roslaunch.xmlloader.XmlParseException as e:
raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
except roslaunch.loader.LoadException as e:
raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
# choose machines for the nodes
if assign_machines:
config.assign_machines()
return config
def load_config_default(roslaunch_files, port, roslaunch_strs=None, loader=None, verbose=False, assign_machines=True):
"""
Base routine for creating a ROSLaunchConfig from a set of
roslaunch_files and or launch XML strings and initializing it. This
config will have a core definition and also set the master to run
on port.
@param roslaunch_files: list of launch files to load
@type roslaunch_files: [str]
@param port: roscore/master port override. Set to 0 or None to use default.
@type port: int
@param roslaunch_strs: (optional) roslaunch XML strings to load
@type roslaunch_strs: [str]
@param verbose: (optional) print info to screen about model as it is loaded.
@type verbose: bool
@param assign_machines: (optional) assign nodes to machines (default: True)
@type assign_machines: bool
@return: initialized rosconfig instance
@rytpe: L{ROSLaunchConfig} initialized rosconfig instance
@raises: RLException
"""
logger = logging.getLogger('roslaunch.config')
# This is the main roslaunch server process. Load up the
# files specified on the command line and launch the
# requested resourcs.
config = ROSLaunchConfig()
if port:
config.master.uri = rosgraph.network.create_local_xmlrpc_uri(port)
loader = loader or roslaunch.xmlloader.XmlLoader()
# load the roscore file first. we currently have
# last-declaration wins rules. roscore is just a
# roslaunch file with special load semantics
load_roscore(loader, config, verbose=verbose)
# load the roslaunch_files into the config
for f in roslaunch_files:
try:
logger.info('loading config file %s'%f)
loader.load(f, config, verbose=verbose)
except roslaunch.xmlloader.XmlParseException as e:
raise RLException(e)
except roslaunch.loader.LoadException as e:
raise RLException(e)
# we need this for the hardware test systems, which builds up
# roslaunch launch files in memory
if roslaunch_strs:
for launch_str in roslaunch_strs:
try:
logger.info('loading config file from string')
loader.load_string(launch_str, config)
except roslaunch.xmlloader.XmlParseException as e:
raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
except roslaunch.loader.LoadException as e:
raise RLException('Launch string: %s\nException: %s'%(launch_str, e))
# choose machines for the nodes
if assign_machines:
config.assign_machines()
return config
