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Drops legacy launch API usage. (#387)

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* Drops legacy launch API usage.

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

* Adds launch_testing as test dependency.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-02-27 11:36:43 -08:00 • committed by Michael Carroll
parent b0a124dcf6
commit e133167524
3 changed files with 40 additions and 32 deletions
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2
rcl/package.xml
View file

@ -36,7 +36,7 @@
<test_depend>ament_lint_common</test_depend>
<test_depend>rmw</test_depend>
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>test_msgs</test_depend>

35
rcl/test/rcl/test_rmw_impl_id_check.py.in
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@ -2,35 +2,40 @@
import os
from launch.legacy import LaunchDescriptor
from launch.legacy.launcher import DefaultLauncher
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch_testing import LaunchTestService
def launch_test(
rmw_implementation_env=None, rcl_assert_rmw_id_matches_env=None, expect_failure=False
):
ld = LaunchDescriptor()
launch_test = LaunchTestService()
launch_description = LaunchDescription()
env = dict(os.environ)
if rmw_implementation_env is not None:
env['RMW_IMPLEMENTATION'] = rmw_implementation_env
env['RMW_IMPLEMENTATION'] = rmw_implementation_env
if rcl_assert_rmw_id_matches_env is not None:
env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env
env['RCL_ASSERT_RMW_ID_MATCHES'] = rcl_assert_rmw_id_matches_env
ld.add_process(
cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
env=env,
launch_test.add_test_action(
launch_description, ExecuteProcess(
cmd=['@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@'],
name='@TEST_RMW_IMPL_ID_CHECK_EXECUTABLE_NAME@',
env=env,
)
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
launch_service = LaunchService()
launch_service.include_launch_description(launch_description)
rc = launch_test.run(launch_service)
if expect_failure:
assert rc != 0, 'The executable did not fail as expected.'
assert rc != 0, 'The executable did not fail as expected.'
else:
assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "
assert rc == 0, "The executable failed with exit code '" + str(rc) + "'. "
def test_rmw_implementation_env():
@ -71,6 +76,6 @@ def test_both():
if __name__ == '__main__':
test_rmw_impl_env()
test_rmw_implementation_env()
test_rcl_assert_rmw_id_matches_env()
test_both()

35
rcl/test/rcl/test_two_executables.py.in
View file

@ -1,29 +1,32 @@
# generated from rcl/test/test_two_executables.py.in
from launch.legacy import LaunchDescriptor
from launch.legacy.exit_handler import ignore_signal_exit_handler
from launch.legacy.exit_handler import primary_exit_handler
from launch.legacy.launcher import DefaultLauncher
from launch import LaunchDescription
from launch import LaunchService
from launch.actions import ExecuteProcess
from launch_testing import LaunchTestService
def @TEST_NAME@():
ld = LaunchDescriptor()
launch_test = LaunchTestService()
launch_description = LaunchDescription()
ld.add_process(
cmd=['@TEST_EXECUTABLE1@'],
name='@TEST_EXECUTABLE1_NAME@',
exit_handler=ignore_signal_exit_handler,
launch_test.add_fixture_action(
launch_description, ExecuteProcess(
cmd=['@TEST_EXECUTABLE1@'],
name='@TEST_EXECUTABLE1_NAME@',
), exit_allowed=True
)
ld.add_process(
cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
name='@TEST_EXECUTABLE2_NAME@',
exit_handler=primary_exit_handler,
launch_test.add_test_action(
launch_description, ExecuteProcess(
cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
name='@TEST_EXECUTABLE2_NAME@',
)
)
launcher = DefaultLauncher()
launcher.add_launch_descriptor(ld)
rc = launcher.launch()
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) + "'. "