Unit tests for composition actions

test_launch_ros/package.xml

@@ -14,6 +14,7 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>demo_nodes_py</test_depend>
   <test_depend>launch_ros</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
   <test_depend>launch_xml</test_depend>
   <test_depend>launch_yaml</test_depend>
   <test_depend>python3-pytest</test_depend>

test_launch_ros/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/test_launch_ros
+[install]
+install-scripts=$base/lib/test_launch_ros

test_launch_ros/setup.py

@@ -37,4 +37,8 @@
     ),
     license='Apache License, Version 2.0',
     tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'mock-composable-container=test_launch_ros.mock_composable_container:main'],
+    }
 )

test_launch_ros/test/rostest/composition.test.py

@@ -0,0 +1,175 @@
+# 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.
+
+import os
+import unittest
+
+from composition_interfaces.srv import LoadNode
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+from launch.actions import RegisterEventHandler
+from launch.event_handlers.on_process_start import OnProcessStart
+from launch_ros import get_default_launch_description
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+import launch_testing
+import launch_testing.asserts
+from rcl_interfaces.msg import Parameter
+from rcl_interfaces.msg import ParameterType
+
+
+def generate_test_description(ready_fn):
+    # Necessary to get real-time stdout from python processes:
+    proc_env = os.environ.copy()
+    proc_env['PYTHONUNBUFFERED'] = '1'
+
+    launch_description = LaunchDescription()
+
+    mock_container = ComposableNodeContainer(
+        env=proc_env,
+        node_name='my_container',
+        node_namespace='/my_ns',
+        package='test_launch_ros',
+        node_executable='mock-composable-container',
+        composable_node_descriptions=[
+            ComposableNode(package='fake_package', node_plugin='successfully_load'),
+            ComposableNode(package='fake_package', node_plugin='fail_to_load'),
+            ComposableNode(
+                package='fake_package', node_plugin='node_name',
+                node_name='my_talker'
+            ),
+            ComposableNode(
+                package='fake_package', node_plugin='node_namespace',
+                node_namespace='my_namespace'
+            ),
+            ComposableNode(
+                package='fake_package', node_plugin='remap_rules',
+                remappings=[('~/foo', '/bar')]
+            ),
+            ComposableNode(
+                package='fake_package', node_plugin='parameters',
+                parameters=[{'foo': {'bar': 'baz'}}]
+            ),
+            ComposableNode(
+                package='fake_package', node_plugin='extra_arguments',
+                extra_arguments=[{'ping.pong': 5}]
+            ),
+            # TODO(sloretz) log level
+            # ComposableNode(
+            #     package='fake_package', node_plugin='log_level',
+            #     log_level=1
+            # ),
+        ])
+
+    launch_description.add_action(get_default_launch_description())
+    launch_description.add_action(mock_container)
+    launch_description.add_action(
+        RegisterEventHandler(
+            event_handler=OnProcessStart(
+                target_action=mock_container,
+                on_start=[
+                    LoadComposableNodes(
+                        composable_node_descriptions=[
+                            ComposableNode(
+                                package='fake_package', node_plugin='node_name_on_event',
+                                node_name='my_talker_on_event'
+                            ),
+                        ],
+                        target_container=mock_container
+                    )
+                ]
+            )
+        )
+    )
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+
+    return launch_description, {'container': mock_container}
+
+
+class TestComposition(unittest.TestCase):
+
+    def test_successfully_load(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'successfully_load'
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_fail_to_load(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'fail_to_load'
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_custom_node_name(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'node_name'
+        request.node_name = 'my_talker'
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_custom_node_name_post_launch(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'node_name_on_event'
+        request.node_name = 'my_talker_on_event'
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_custom_node_namespace(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'node_namespace'
+        request.node_namespace = 'my_namespace'
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_custom_remap_rules(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'remap_rules'
+        request.remap_rules = ['~/foo:=/bar']
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_custom_parameters(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'parameters'
+        p = Parameter()
+        p.name = 'foo.bar'
+        p.value.string_value = 'baz'
+        p.value.type = ParameterType.PARAMETER_STRING
+        request.parameters = [p]
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    def test_custom_extra_arguments(self, container):
+        request = LoadNode.Request()
+        request.package_name = 'fake_package'
+        request.plugin_name = 'extra_arguments'
+        p = Parameter()
+        p.name = 'ping.pong'
+        p.value.integer_value = 5
+        p.value.type = ParameterType.PARAMETER_INTEGER
+        request.extra_arguments = [p]
+        self.proc_output.assertWaitFor(expected_output=repr(request), process=container)
+
+    # TODO(sloretz) log level
+    # def test_custom_log_level(self, container):
+    #     request = LoadNode.Request()
+    #     request.package_name = 'fake_package'
+    #     request.plugin_name = 'log_level'
+    #     request.log_level = 1
+    #     self.proc_output.assertWaitFor(expected_output=repr(request), process=container)

test_launch_ros/test_launch_ros/mock_composable_container.py

@@ -0,0 +1,133 @@
+# 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.
+
+import sys
+
+from composition_interfaces.srv import LoadNode
+import rclpy
+from rclpy.node import Node
+
+
+class MockComposableNodeContainer(Node):
+
+    def __enter__(self):
+        self.__load_service = self.create_service(
+            LoadNode, '~/_container/load_node', self._on_load_node)
+        return self
+
+    def __exit__(self, type_, value, traceback):
+        self.destroy_service(self.__load_service)
+        self.destroy_node()
+
+    def __init__(self, name, namespace):
+        """
+        Initialize a mock container process.
+
+        :param load_node_responses: responses to a load node request for a given package/plugin
+        :type load_node_responses: {(str, str): composition_interfaces.LoadNode.Response, ...}
+        """
+        super().__init__(name, namespace=namespace)
+
+        # Canned responses to load service
+        fail_to_load = LoadNode.Response()
+        fail_to_load.success = False
+        fail_to_load.error_message = 'intentional failure'
+
+        successfully_load = LoadNode.Response()
+        successfully_load.success = True
+        successfully_load.full_node_name = '/a_nodename'
+        successfully_load.unique_id = 2
+
+        node_name = LoadNode.Response()
+        node_name.success = True
+        node_name.full_node_name = '/my_talker'
+        node_name.unique_id = 4
+
+        node_namespace = LoadNode.Response()
+        node_namespace.success = True
+        node_namespace.full_node_name = '/my_namespace/my_talker'
+        node_namespace.unique_id = 8
+
+        log_level = LoadNode.Response()
+        log_level.success = True
+        log_level.full_node_name = '/a_nodename'
+        log_level.unique_id = 16
+
+        remap_rules = LoadNode.Response()
+        remap_rules.success = True
+        remap_rules.full_node_name = '/a_nodename'
+        remap_rules.unique_id = 32
+
+        parameters = LoadNode.Response()
+        parameters.success = True
+        parameters.full_node_name = '/a_nodename'
+        parameters.unique_id = 64
+
+        extra_arguments = LoadNode.Response()
+        extra_arguments.success = True
+        extra_arguments.full_node_name = '/a_nodename'
+        extra_arguments.unique_id = 128
+
+        node_name_on_event = LoadNode.Response()
+        node_name_on_event.success = True
+        node_name_on_event.full_node_name = '/my_talker_on_event'
+        node_name_on_event.unique_id = 256
+
+        self.__load_node_responses = {
+            ('fake_package', 'fail_to_load'): fail_to_load,
+            ('fake_package', 'successfully_load'): successfully_load,
+            ('fake_package', 'node_name'): node_name,
+            ('fake_package', 'node_namespace'): node_namespace,
+            ('fake_package', 'log_level'): log_level,
+            ('fake_package', 'remap_rules'): remap_rules,
+            ('fake_package', 'parameters'): parameters,
+            ('fake_package', 'extra_arguments'): extra_arguments,
+            ('fake_package', 'node_name_on_event'): node_name_on_event,
+        }
+
+        self.unexpected_request = False
+
+    def _on_load_node(self, request, response):
+        key = (request.package_name, request.plugin_name)
+        if key not in self.__load_node_responses:
+            self.unexpected_request = True
+            unexpected_load = LoadNode.Response()
+            unexpected_load.success = False
+            unexpected_load.error_message = 'unexpected load request'
+            return response
+        else:
+            print(repr(request))
+            return self.__load_node_responses[key]
+        return response
+
+
+def main():
+    rclpy.init()
+    container = MockComposableNodeContainer(name='mock_container', namespace='/')
+    with container:
+        try:
+            rclpy.spin(container)
+        except KeyboardInterrupt:
+            print('Got SIGINT, shutting down')
+        except:
+            import traceback
+            traceback.print_exc()
+    if container.unexpected_request:
+        sys.stderr.write('failing due to unexpected request\n')
+        sys.exit(1)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()