Added case for instances of ExecuteLocal in resolveProcess function (#587)

* Added case for instances of ExecuteLocal & unit tests

Signed-off-by: matthew.lanting <[email protected]>

Author: mlanting

launch_testing/launch_testing/util/proc_lookup.py

@@ -51,7 +51,11 @@ def _proc_to_name_and_args(proc):
         def perform_subs(subs):
             return ''.join([sub.perform(_fake_context()) for sub in subs])
         try:
-            cmd = [perform_subs(sub) for sub in proc.cmd]
+            cmd = []
+            if (isinstance(proc, launch.actions.ExecuteProcess)):
+                cmd = [perform_subs(sub) for sub in proc.cmd]
+            elif (isinstance(proc, launch.actions.ExecuteLocal)):
+                cmd = [perform_subs(sub) for sub in proc.process_description.cmd]
             return ' '.join(cmd)
         except _FakeContextException:
             return 'Unknown - Process not launched yet'
@@ -104,7 +108,8 @@ def resolveProcesses(info_obj, *, process=None, cmd_args=None, strict_proc_match
             raise NoMatchingProcessException('No data recorded for any process')
         return all_procs
 
-    if isinstance(process, launch.actions.ExecuteProcess):
+    if (isinstance(process, launch.actions.ExecuteProcess) or
+       isinstance(process, launch.actions.ExecuteLocal)):
         # We want to search a specific process
         if process in info_obj.processes():
             return [process]

launch_testing/test/launch_testing/test_resolve_process.py

@@ -32,6 +32,29 @@ class TestResolveProcess(unittest.TestCase):
     def test_unlaunched_process_lookup(self):
         info_obj = launch_testing.ProcInfoHandler()
 
+        lookup_obj = launch.actions.ExecuteLocal(
+            process_description=launch.descriptions.Executable(
+                cmd=[
+                    'python',
+                    '-c',
+                    '',
+                ]
+            )
+        )
+
+        with self.assertRaises(launch_testing.util.NoMatchingProcessException) as cm:
+            launch_testing.util.resolveProcesses(
+                info_obj,
+                process=lookup_obj
+            )
+
+        # We'll get a good error mesasge here because there were no substitutions in
+        # the execute process cmd - it's all text
+        self.assertIn('python -c', str(cm.exception))
+
+    def test_backward_compatible_unlaunched_process_lookup(self):
+        info_obj = launch_testing.ProcInfoHandler()
+
         lookup_obj = launch.actions.ExecuteProcess(
             cmd=[
                 'python',
@@ -53,6 +76,30 @@ def test_unlaunched_process_lookup(self):
     def test_unlaunched_process_lookup_with_substitutions(self):
         info_obj = launch_testing.ProcInfoHandler()
 
+        lookup_obj = launch.actions.ExecuteLocal(
+            process_description=launch.descriptions.Executable(
+                cmd=[
+                    launch.substitutions.LocalSubstitution('foo'),
+                    'python',
+                    '-c',
+                    '',
+                ]
+            )
+        )
+
+        with self.assertRaises(launch_testing.util.NoMatchingProcessException) as cm:
+            launch_testing.util.resolveProcesses(
+                info_obj,
+                process=lookup_obj
+            )
+
+        # Since the process wasn't launched yet, and it has substitutions that need to be
+        # resolved by the launch system, we won't be able to take a guess at the command
+        self.assertIn('Unknown', str(cm.exception))
+
+    def test_backward_compatible_unlaunched_process_lookup_with_substitutions(self):
+        info_obj = launch_testing.ProcInfoHandler()
+
         lookup_obj = launch.actions.ExecuteProcess(
             cmd=[
                 launch.substitutions.LocalSubstitution('foo'),