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Migrate launch tests to new launch_testing features & API (#405)

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* Update after launch_testing features becoming legacy.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Migrate rcl tests to new launch_testing API.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Migrate missing rcl test to new launch_testing API.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-04-30 19:48:09 -03:00 • committed by GitHub
parent 23510fe64b
commit 4f07417370
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 102 additions and 82 deletions
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1
rcl/package.xml
View file

@ -38,6 +38,7 @@
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>launch_testing_ament_cmake</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>test_msgs</test_depend>

6
rcl/test/CMakeLists.txt
View file

@ -1,5 +1,5 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
find_package(test_msgs REQUIRED)
@ -253,9 +253,9 @@ function(test_target_function)
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test/test_rmw_impl_id_check${target_suffix}_$<CONFIG>.py"
INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_rmw_impl_id_check${target_suffix}.py.configure"
)
ament_add_pytest_test(
test_rmw_impl_id_check${target_suffix}
add_launch_test(
"${CMAKE_CURRENT_BINARY_DIR}/test/test_rmw_impl_id_check${target_suffix}_$<CONFIG>.py"
TARGET test_rmw_impl_id_check${target_suffix}
APPEND_LIBRARY_DIRS "${extra_lib_dirs}"
${SKIP_TEST}
)

8
rcl/test/cmake/rcl_add_custom_launch_test.cmake
View file

@ -15,6 +15,8 @@
if(rcl_add_custom_launch_test_INCLUDED)
return()
endif()
find_package(launch_testing_ament_cmake REQUIRED)
set(rcl_add_custom_launch_test_INCLUDED TRUE)
macro(rcl_add_custom_launch_test test_name executable1 executable2)
@ -32,7 +34,11 @@ macro(rcl_add_custom_launch_test test_name executable1 executable2)
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test/${test_name}${target_suffix}_$<CONFIG>.py"
INPUT "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}.py.configure"
)
ament_add_pytest_test(${test_name}${target_suffix} "${CMAKE_CURRENT_BINARY_DIR}/test/${test_name}${target_suffix}_$<CONFIG>.py" ${ARGN})
add_launch_test(
"${CMAKE_CURRENT_BINARY_DIR}/test/${test_name}${target_suffix}_$<CONFIG>.py"
TARGET ${test_name}${target_suffix}
${ARGN}
)
if(TEST ${test_name}${target_suffix})
set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1}${target_suffix} ${executable2}${target_suffix}")
endif()

109
rcl/test/rcl/test_rmw_impl_id_check.py.in
View file

@ -3,15 +3,38 @@
import os
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch_testing import LaunchTestService
from launch.actions import OpaqueFunction
import launch_testing
import launch_testing.asserts
import launch_testing.util
def launch_test(
rmw_implementation_env=None, rcl_assert_rmw_id_matches_env=None, expect_failure=False
import unittest
@launch_testing.parametrize(
'rmw_implementation_env,rcl_assert_rmw_id_matches_env',
[
# Test RMW_IMPLEMENTATION only.
('@rmw_implementation@', None),
('garbage', None),
('', None),
# Test RCL_ASSERT_RMW_ID_MATCHES only.
(None, 'garbage'),
(None, ''),
# Test both.
('@rmw_implementation@', '@rmw_implementation@'),
('garbage', '@rmw_implementation@'),
('@rmw_implementation@', 'garbage'),
('garbage', 'garbage'),
('', ''),
]
)
def generate_test_description(
rmw_implementation_env,
rcl_assert_rmw_id_matches_env,
ready_fn
):
launch_test = LaunchTestService()
launch_description = LaunchDescription()
env = dict(os.environ)
@ -20,62 +43,38 @@ def launch_test(
if rcl_assert_rmw_id_matches_env is not None:
env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env
launch_test.add_test_action(
launch_description, ExecuteProcess(
executable_under_test = ExecuteProcess(
cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
env=env,
)
launch_description.add_action(executable_under_test)
# Keep the test fixture alive till tests end.
launch_description.add_action(launch_testing.util.KeepAliveProc())
launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
)
return launch_description, locals()
launch_service = LaunchService()
launch_service.include_launch_description(launch_description)
rc = launch_test.run(launch_service)
class TestRMWImplementationIDCheck(unittest.TestCase):
if expect_failure:
assert rc != 0, 'The executable did not fail as expected.'
else:
assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "
def test_process_terminates_in_a_finite_amount_of_time(self, executable_under_test):
"""Test that executable under test terminates in a finite amount of time."""
self.proc_info.assertWaitForShutdown(process=executable_under_test, timeout=10)
@launch_testing.post_shutdown_test()
class TestRMWImplementationIDCheckAfterShutdown(unittest.TestCase):
def test_rmw_implementation_env():
launch_test(rmw_implementation_env='@rmw_implementation@', expect_failure=False)
launch_test(rmw_implementation_env='', expect_failure=False)
launch_test(rmw_implementation_env='garbage', expect_failure=True)
def test_rcl_assert_rmw_id_matches_env():
# Note(dhood): we don't test _only_ setting RCL_ASSERT_RMW_ID_MATCHES because if support for
# multiple RMW implementations is available then RMW_IMPLEMENTATION must be used in order to
# get non-default RMW implementation(s).
launch_test(rcl_assert_rmw_id_matches_env='', expect_failure=False)
launch_test(rcl_assert_rmw_id_matches_env='garbage', expect_failure=True)
def test_both():
launch_test(
rmw_implementation_env='@rmw_implementation@',
rcl_assert_rmw_id_matches_env='@rmw_implementation@',
expect_failure=False)
launch_test(
rmw_implementation_env='',
rcl_assert_rmw_id_matches_env='',
expect_failure=False)
launch_test(
rmw_implementation_env='@rmw_implementation@',
rcl_assert_rmw_id_matches_env='garbage',
expect_failure=True)
launch_test(
rmw_implementation_env='garbage',
rcl_assert_rmw_id_matches_env='@rmw_implementation@',
expect_failure=True)
launch_test(
rmw_implementation_env='garbage',
rcl_assert_rmw_id_matches_env='garbage',
expect_failure=True)
if __name__ == '__main__':
test_rmw_implementation_env()
test_rcl_assert_rmw_id_matches_env()
test_both()
def test_process_terminates_as_expected(
self,
proc_info,
executable_under_test,
rmw_implementation_env,
rcl_assert_rmw_id_matches_env
):
"""Test that the executable under test terminates as expected."""
assertion_method = self.assertEqual
if 'garbage' in (rmw_implementation_env, rcl_assert_rmw_id_matches_env):
assertion_method = self.assertNotEqual
executable_info = proc_info[executable_under_test]
assertion_method(executable_info.returncode, launch_testing.asserts.EXIT_OK)

48
rcl/test/rcl/test_two_executables.py.in
View file

@ -1,35 +1,49 @@
# generated from rcl/test/test_two_executables.py.in
import os
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch_testing import LaunchTestService
from launch.actions import OpaqueFunction
import launch_testing
import launch_testing.asserts
import unittest
def @TEST_NAME@():
launch_test = LaunchTestService()
def generate_test_description(ready_fn):
launch_description = LaunchDescription()
launch_test.add_fixture_action(
launch_description, ExecuteProcess(
launch_description.add_action(
ExecuteProcess(
cmd=['@TEST_EXECUTABLE1@'],
name='@TEST_EXECUTABLE1_NAME@',
), exit_allowed=True
)
)
launch_test.add_test_action(
launch_description, ExecuteProcess(
executable_under_test = ExecuteProcess(
cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
name='@TEST_EXECUTABLE2_NAME@',
)
launch_description.add_action(executable_under_test)
launch_description.add_action(
OpaqueFunction(function=lambda context: ready_fn())
)
launch_service = LaunchService()
launch_service.include_launch_description(launch_description)
rc = launch_test.run(launch_service)
assert rc == 0, "The launch file failed with exit code '" + str(rc) + "'. "
return launch_description, locals()
if __name__ == '__main__':
@TEST_NAME@()
class TestTwoExecutables(unittest.TestCase):
def @TEST_NAME@(self, executable_under_test):
"""Test that the executable under test terminates after a finite amount of time."""
self.proc_info.assertWaitForShutdown(process=executable_under_test, timeout=10)
@launch_testing.post_shutdown_test()
class TestTwoExecutablesAfterShutdown(unittest.TestCase):
def @TEST_NAME@(self, executable_under_test):
"""Test that the executable under test finished cleanly."""
launch_testing.asserts.assertExitCodes(self.proc_info, process=executable_under_test)