SLORETZ: partial launch_test composition support

Signed-off-by: Shane Loretz <[email protected]>

Author: sloretz

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>python3-pytest</test_depend>
   <test_depend>python3-yaml</test_depend>
 

test_launch_ros/setup.py

@@ -32,4 +32,8 @@
     ),
     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.py

@@ -0,0 +1,60 @@
+# 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
+
+import ament_index_python
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+import launch_testing
+import launch_testing.asserts
+
+
+def generate_test_description(ready_fn):
+    launch_description = LaunchDescription()
+
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[
+                os.path.join(
+                    ament_index_python.get_package_prefix('test_launch_ros'),
+                    'bin',
+                    'mock-composable-container'),
+            ],
+        )
+    )
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
+
+
+class TestComposition(unittest.TestCase):
+
+    def test_hello_world(self):
+        raise Exception(repr(self.proc_info._proc_info_handler._proc_info))
+        proc = self.proc_info.processes()[0]
+        launch_testing.asserts.assertInStdout(self.proc_output, 'Hello world', proc)
+
+
+# @launch_testing.post_shutdown_test()
+# class TestTwoExecutablesAfterShutdown(unittest.TestCase):
+# 
+#     def @TEST_NAME@(self, executable_under_test):
+#         """Test that the executable under test finished cleanly."""
+# launch_testing.asserts.assertExitCodes(self.proc_info, process=executable_under_test)

test_launch_ros/test_launch_ros/__init__.py

@@ -0,0 +1,16 @@
+# 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.
+
+def main():
+    print('Hello world')