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| 1 | +# Copyright 2020 Open Source Robotics Foundation, Inc. |
| 2 | +# |
| 3 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +# you may not use this file except in compliance with the License. |
| 5 | +# You may obtain a copy of the License at |
| 6 | +# |
| 7 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +# |
| 9 | +# Unless required by applicable law or agreed to in writing, software |
| 10 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +# See the License for the specific language governing permissions and |
| 13 | +# limitations under the License. |
| 14 | + |
| 15 | +"""Tests for the LoadComposableNodes Action.""" |
| 16 | + |
| 17 | +import threading |
| 18 | + |
| 19 | +from composition_interfaces.srv import LoadNode |
| 20 | + |
| 21 | +from launch import LaunchDescription |
| 22 | +from launch import LaunchService |
| 23 | +from launch.actions import GroupAction |
| 24 | +from launch_ros.actions import LoadComposableNodes |
| 25 | +from launch_ros.descriptions import ComposableNode |
| 26 | + |
| 27 | +import pytest |
| 28 | + |
| 29 | +from rcl_interfaces.msg import ParameterType |
| 30 | + |
| 31 | +import rclpy |
| 32 | +import rclpy.context |
| 33 | +import rclpy.executors |
| 34 | +import rclpy.node |
| 35 | + |
| 36 | +TEST_CONTAINER_NAME = 'mock_component_container' |
| 37 | +TEST_NODE_NAME = 'test_load_composable_nodes_node' |
| 38 | + |
| 39 | + |
| 40 | +class MockComponentContainer(rclpy.node.Node): |
| 41 | + |
| 42 | + def __init__(self): |
| 43 | + # List of LoadNode requests received |
| 44 | + self.requests = [] |
| 45 | + |
| 46 | + self._context = rclpy.context.Context() |
| 47 | + rclpy.init(context=self._context) |
| 48 | + |
| 49 | + super().__init__(TEST_CONTAINER_NAME, context=self._context) |
| 50 | + |
| 51 | + self.load_node_service = self.create_service( |
| 52 | + LoadNode, |
| 53 | + '~/_container/load_node', |
| 54 | + self.load_node_callback |
| 55 | + ) |
| 56 | + |
| 57 | + self._executor = rclpy.executors.SingleThreadedExecutor(context=self._context) |
| 58 | + |
| 59 | + # Start spinning in a thread |
| 60 | + self._thread = threading.Thread( |
| 61 | + target=rclpy.spin, |
| 62 | + args=(self, self._executor), |
| 63 | + daemon=True |
| 64 | + ) |
| 65 | + self._thread.start() |
| 66 | + |
| 67 | + def load_node_callback(self, request, response): |
| 68 | + self.requests.append(request) |
| 69 | + response.success = True |
| 70 | + response.full_node_name = f'{request.node_namespace}/{request.node_name}' |
| 71 | + response.unique_id = len(self.requests) |
| 72 | + return response |
| 73 | + |
| 74 | + def shutdown(self): |
| 75 | + self._executor.shutdown() |
| 76 | + self.destroy_node() |
| 77 | + rclpy.shutdown(context=self._context) |
| 78 | + self._thread.join() |
| 79 | + |
| 80 | + |
| 81 | +def _assert_launch_no_errors(actions): |
| 82 | + ld = LaunchDescription(actions) |
| 83 | + ls = LaunchService(debug=True) |
| 84 | + ls.include_launch_description(ld) |
| 85 | + assert 0 == ls.run() |
| 86 | + return ls.context |
| 87 | + |
| 88 | + |
| 89 | +def _load_composable_node( |
| 90 | + *, |
| 91 | + package, |
| 92 | + plugin, |
| 93 | + name, |
| 94 | + namespace='', |
| 95 | + parameters=None, |
| 96 | + remappings=None, |
| 97 | + target_container=f'/{TEST_CONTAINER_NAME}' |
| 98 | +): |
| 99 | + return LoadComposableNodes( |
| 100 | + target_container=target_container, |
| 101 | + composable_node_descriptions=[ |
| 102 | + ComposableNode( |
| 103 | + package=package, |
| 104 | + plugin=plugin, |
| 105 | + name=name, |
| 106 | + namespace=namespace, |
| 107 | + parameters=parameters, |
| 108 | + remappings=remappings, |
| 109 | + ) |
| 110 | + ]) |
| 111 | + |
| 112 | + |
| 113 | +@pytest.fixture |
| 114 | +def mock_component_container(): |
| 115 | + container = MockComponentContainer() |
| 116 | + yield container |
| 117 | + container.shutdown() |
| 118 | + |
| 119 | + |
| 120 | +def test_load_node(mock_component_container): |
| 121 | + """Test loading a node.""" |
| 122 | + context = _assert_launch_no_errors([ |
| 123 | + _load_composable_node( |
| 124 | + package='foo_package', |
| 125 | + plugin='bar_plugin', |
| 126 | + name='test_node_name', |
| 127 | + namespace='test_node_namespace' |
| 128 | + ) |
| 129 | + ]) |
| 130 | + |
| 131 | + # Check that container recieved correct request |
| 132 | + assert len(mock_component_container.requests) == 1 |
| 133 | + request = mock_component_container.requests[0] |
| 134 | + assert request.package_name == 'foo_package' |
| 135 | + assert request.plugin_name == 'bar_plugin' |
| 136 | + assert request.node_name == 'test_node_name' |
| 137 | + assert request.node_namespace == '/test_node_namespace' |
| 138 | + assert len(request.remap_rules) == 0 |
| 139 | + assert len(request.parameters) == 0 |
| 140 | + assert len(request.extra_arguments) == 0 |
| 141 | + |
| 142 | + |
| 143 | +def test_load_node_with_remaps(mock_component_container): |
| 144 | + """Test loading a node with remappings.""" |
| 145 | + context = _assert_launch_no_errors([ |
| 146 | + _load_composable_node( |
| 147 | + package='foo_package', |
| 148 | + plugin='bar_plugin', |
| 149 | + name='test_node_name', |
| 150 | + namespace='test_node_namespace', |
| 151 | + remappings=[ |
| 152 | + ('test_topic1', 'test_remap_topic1'), |
| 153 | + ('test/topic/two', 'test/remap_topic2') |
| 154 | + ] |
| 155 | + ) |
| 156 | + ]) |
| 157 | + |
| 158 | + # Check that container recieved correct request |
| 159 | + assert len(mock_component_container.requests) == 1 |
| 160 | + request = mock_component_container.requests[0] |
| 161 | + assert request.package_name == 'foo_package' |
| 162 | + assert request.plugin_name == 'bar_plugin' |
| 163 | + assert request.node_name == 'test_node_name' |
| 164 | + assert request.node_namespace == '/test_node_namespace' |
| 165 | + assert len(request.remap_rules) == 2 |
| 166 | + assert request.remap_rules[0] == 'test_topic1:=test_remap_topic1' |
| 167 | + assert request.remap_rules[1] == 'test/topic/two:=test/remap_topic2' |
| 168 | + assert len(request.parameters) == 0 |
| 169 | + assert len(request.extra_arguments) == 0 |
| 170 | + |
| 171 | + |
| 172 | +def test_load_node_with_params(mock_component_container): |
| 173 | + """Test loading a node with parameters.""" |
| 174 | + context = _assert_launch_no_errors([ |
| 175 | + _load_composable_node( |
| 176 | + package='foo_package', |
| 177 | + plugin='bar_plugin', |
| 178 | + name='test_node_name', |
| 179 | + namespace='test_node_namespace', |
| 180 | + parameters=[{ |
| 181 | + 'test_param1': 'test_value_param1', |
| 182 | + 'test.param2': '42.0', |
| 183 | + }] |
| 184 | + ) |
| 185 | + ]) |
| 186 | + |
| 187 | + # Check that container recieved correct request |
| 188 | + assert len(mock_component_container.requests) == 1 |
| 189 | + request = mock_component_container.requests[0] |
| 190 | + assert request.package_name == 'foo_package' |
| 191 | + assert request.plugin_name == 'bar_plugin' |
| 192 | + assert request.node_name == 'test_node_name' |
| 193 | + assert request.node_namespace == '/test_node_namespace' |
| 194 | + assert len(request.remap_rules) == 0 |
| 195 | + assert len(request.parameters) == 2 |
| 196 | + assert request.parameters[0].name == 'test_param1' |
| 197 | + assert request.parameters[0].value.type == ParameterType.PARAMETER_STRING |
| 198 | + assert request.parameters[0].value.string_value == 'test_value_param1' |
| 199 | + assert request.parameters[1].name == 'test.param2' |
| 200 | + # TODO(jacobperron): I would expect this to be a double value, but we can only pass strings |
| 201 | + # assert request.parameters[1].value.type == ParameterType.PARAMETER_DOUBLE |
| 202 | + # assert request.parameters[1].value.double_value == 42.0 |
| 203 | + assert request.parameters[1].value.string_value == '42.0' |
| 204 | + assert len(request.extra_arguments) == 0 |
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