'output' is expanded as a substitution in XML/YAML files (#577)

* 'output' is expanded as a substitution
Also, changed test files relating to the same

Signed-off-by: Khush-dev <[email protected]>

* Change `output` to `SomeSubstitutionsType`

`SomeSubstitutionsType` is a type `Union` already including `Text`

Co-authored-by: Michel Hidalgo <[email protected]>
Signed-off-by: Khush-dev <[email protected]>

Co-authored-by: Michel Hidalgo <[email protected]>

Author: Khush-dev

launch/launch/actions/execute_local.py

@@ -90,7 +90,7 @@ def __init__(
         sigkill_timeout: SomeSubstitutionsType = LaunchConfiguration(
             'sigkill_timeout', default=5),
         emulate_tty: bool = False,
-        output: Text = 'log',
+        output: SomeSubstitutionsType = 'log',
         output_format: Text = '[{this.process_description.final_name}] {line}',
         cached_output: bool = False,
         log_cmd: bool = False,
@@ -192,6 +192,7 @@ def __init__(
         self.__sigkill_timeout = normalize_to_list_of_substitutions(sigkill_timeout)
         self.__emulate_tty = emulate_tty
         self.__output = os.environ.get('OVERRIDE_LAUNCH_PROCESS_OUTPUT', output)
+        self.__output = normalize_to_list_of_substitutions(self.__output)
         self.__output_format = output_format
 
         self.__log_cmd = log_cmd
@@ -664,6 +665,7 @@ def execute(self, context: LaunchContext) -> Optional[List[LaunchDescriptionEnti
             self.__completed_future = create_future(context.asyncio_loop)
             self.__shutdown_future = create_future(context.asyncio_loop)
             self.__logger = launch.logging.get_logger(name)
+            self.__output = perform_substitutions(context, self.__output)
             self.__stdout_logger, self.__stderr_logger = \
                 launch.logging.get_output_loggers(name, self.__output)
             context.asyncio_loop.create_task(self.__execute_process(context))

launch/launch/actions/execute_process.py

@@ -339,7 +339,7 @@ def parse(
         if 'output' not in ignore:
             output = entity.get_attr('output', optional=True)
             if output is not None:
-                kwargs['output'] = parser.escape_characters(output)
+                kwargs['output'] = parser.parse_substitution(output)
 
         if 'respawn' not in ignore:
             respawn = entity.get_attr('respawn', data_type=bool, optional=True)

launch_xml/test/launch_xml/test_executable.py

@@ -35,7 +35,7 @@ def test_executable():
     assert executable.cwd[0].perform(None) == '/'
     assert executable.name[0].perform(None) == 'my_ls'
     assert executable.shell is True
-    assert executable.output == 'log'
+    assert executable.output[0].perform(None) == 'log'
     key, value = executable.additional_env[0]
     key = key[0].perform(None)
     value = value[0].perform(None)

launch_yaml/test/launch_yaml/test_executable.py

@@ -47,7 +47,7 @@ def test_executable():
     assert(executable.cwd[0].perform(None) == '/')
     assert(executable.name[0].perform(None) == 'my_ls')
     assert(executable.shell is True)
-    assert(executable.output == 'log')
+    assert(executable.output[0].perform(None) == 'log')
     key, value = executable.additional_env[0]
     key = key[0].perform(None)
     value = value[0].perform(None)