Migrate some legacy launch_testing functionality.

Signed-off-by: Michel Hidalgo <[email protected]>

launch_testing_ros/launch_testing_ros/__init__.py

@@ -15,9 +15,10 @@
 
 from .data_republisher import DataRepublisher
 from .message_pump import MessagePump
-
+from . import tools
 
 __all__ = [
     'DataRepublisher',
     'MessagePump',
+    'tools',
 ]

launch_testing_ros/launch_testing_ros/tools/__init__.py

@@ -0,0 +1,19 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .output import basic_output_filter
+
+__all__ = [
+    'basic_output_filter'
+]

launch_testing_ros/launch_testing_ros/tools/output.py

@@ -0,0 +1,63 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import ament_index_python
+
+
+def get_rmw_output_filter(rmw_implementation, filter_type):
+    supported_filter_types = ['prefixes', 'patterns']
+    if filter_type not in supported_filter_types:
+        raise TypeError(
+            'Unsupported filter_type "{0}". Supported types: {1}'
+            .format(filter_type, supported_filter_types))
+    resource_name = 'rmw_output_' + filter_type
+    prefix_with_resource = ament_index_python.has_resource(
+        resource_name, rmw_implementation)
+    if not prefix_with_resource:
+        return []
+
+    # Treat each line of the resource as an independent filter.
+    rmw_output_filter, _ = ament_index_python.get_resource(resource_name, rmw_implementation)
+    return [l for l in rmw_output_filter.splitlines()]
+
+
+def basic_output_filter(
+    filtered_prefixes=None,
+    filtered_patterns=None,
+    filtered_rmw_implementation=None
+):
+    """
+    Create a line filtering function to help output testing.
+
+    :param filtered_prefixes: A list of byte strings representing prefixes that will cause
+    output lines to be ignored if they start with one of the prefixes. By default lines
+    starting with the process ID (`b'pid'`) and return code (`b'rc'`) will be ignored.
+    :param filtered_patterns: A list of byte strings representing regexes that will cause
+    output lines to be ignored if they match one of the regexes.
+    :param filtered_rmw_implementation: RMW implementation for which the output will be
+    ignored in addition to the `filtered_prefixes`/`filtered_patterns`.
+    """
+    from launch_testing.tools.output import basic_output_filter as base_output_filter
+    from launch_testing.tools.output import get_default_filtered_prefixes
+    from launch_testing.tools.output import get_default_filtered_patterns
+    filtered_prefixes = filtered_prefixes or get_default_filtered_prefixes()
+    filtered_patterns = filtered_patterns or get_default_filtered_patterns()
+    if filtered_rmw_implementation:
+        filtered_prefixes = filtered_prefixes + get_rmw_output_filter(
+            filtered_rmw_implementation, 'prefixes'
+        )
+        filtered_patterns = filtered_patterns + get_rmw_output_filter(
+            filtered_rmw_implementation, 'patterns'
+        )
+    return base_output_filter(filtered_prefixes, filtered_patterns)