import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
import pytest
from rclpy.utilities import get_available_rmw_implementations
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
from utilities.sros2_cli_test_case import generate_sros2_cli_test_description # noqa: E402
from utilities.sros2_cli_test_case import SROS2CLITestCase # noqa: E402
@pytest.mark.rostest
@launch_testing.parametrize('rmw_implementation,use_daemon', itertools.product(
get_available_rmw_implementations(), (True, False)
))
@launch_testing.markers.keep_alive
def generate_test_description(rmw_implementation, use_daemon):
return generate_sros2_cli_test_description(
fixture_actions=[ReadyToTest()],
rmw_implementation=rmw_implementation,
use_daemon=use_daemon
), locals()
class TestSROS2GeneratePolicyVerbWithNoNodes(SROS2CLITestCase):
def test_generate_policy_no_nodes(self):
with tempfile.TemporaryDirectory() as tmpdir:
with self.launch_sros2_command(
import pytest
from rclpy.utilities import get_available_rmw_implementations
# Skip cli tests on Windows while they exhibit pathological behavior
# https://github.com/ros2/build_farmer/issues/248
if sys.platform.startswith('win'):
pytest.skip(
'CLI tests can block for a pathological amount of time on Windows.',
allow_module_level=True)
@pytest.mark.rostest
@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
def generate_test_description(rmw_implementation):
path_to_fixtures = os.path.join(os.path.dirname(__file__), 'fixtures')
additional_env = {
'RMW_IMPLEMENTATION': rmw_implementation, 'PYTHONUNBUFFERED': '1'
}
path_to_talker_node_script = os.path.join(path_to_fixtures, 'talker_node.py')
path_to_listener_node_script = os.path.join(path_to_fixtures, 'listener_node.py')
hidden_talker_node_action = Node(
executable=sys.executable,
arguments=[path_to_talker_node_script],
remappings=[('chatter', '_hidden_chatter')],
additional_env=additional_env
)
def get_echo_call_output(**kwargs):
request = BasicTypes.Request()
for field_name, field_value in kwargs.items():
setattr(request, field_name, field_value)
response = BasicTypes.Response()
for field_name, field_value in kwargs.items():
setattr(response, field_name, field_value)
return [
'requester: making request: ' + repr(request), '', 'response:',
repr(response), ''
]
@pytest.mark.rostest
@launch_testing.parametrize('rmw_implementation',
get_available_rmw_implementations())
def generate_test_description(rmw_implementation):
path_to_echo_server_script = os.path.join(os.path.dirname(__file__),
'fixtures', 'echo_server.py')
additional_env = {'RMW_IMPLEMENTATION': rmw_implementation}
return LaunchDescription([
# Always restart daemon to isolate tests.
ExecuteProcess(
cmd=['ros2', 'daemon', 'stop'],
name='daemon-stop',
on_exit=[
ExecuteProcess(
cmd=['ros2', 'daemon', 'start'],
name='daemon-start',
on_exit=[
# Add test fixture actions.
