Add tests for command line remapping (#268)

* Add tests for command line remapping

test_cli_remapping/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(test_cli_remapping)
+
+find_package(ament_cmake_auto REQUIRED)
+
+if(BUILD_TESTING)
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(test_msgs REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  add_executable(name_maker_rclcpp
+    test/name_maker.cpp)
+  ament_target_dependencies(name_maker_rclcpp
+    "rclcpp"
+    "test_msgs")
+
+  ament_add_pytest_test(test_cli_remapping
+    test/test_cli_remapping.py
+    ENV
+      NAME_MAKER_RCLCPP=$<TARGET_FILE:name_maker_rclcpp>
+      NAME_MAKER_RCLPY=${CMAKE_CURRENT_SOURCE_DIR}/test/name_maker.py
+    TIMEOUT 120)
+  set_tests_properties(test_cli_remapping
+    PROPERTIES DEPENDS
+      name_maker_rclcpp)
+endif()
+
+ament_auto_package()

test_cli_remapping/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>test_cli_remapping</name>
+  <version>0.4.0</version>
+  <description>
+    Test command line remapping of topic names, service names, node namespace, and node name.
+  </description>
+  <maintainer email="[email protected]">Shane Loretz</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>ament_cmake</build_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>rclcpp</test_depend>
+  <test_depend>rclpy</test_depend>
+  <test_depend>test_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test_cli_remapping/test/name_maker.cpp

@@ -0,0 +1,51 @@
+// Copyright 2018 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.
+
+#include <chrono>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "test_msgs/msg/empty.hpp"
+#include "test_msgs/srv/empty.hpp"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  std::string node_name = "original_node_name";
+  std::string namespace_ = "/original/namespace";
+  auto node = rclcpp::Node::make_shared(node_name, namespace_);
+
+  auto pub1 = node->create_publisher<test_msgs::msg::Empty>("~/private/name");
+  auto pub2 = node->create_publisher<test_msgs::msg::Empty>("relative/name");
+  auto pub3 = node->create_publisher<test_msgs::msg::Empty>("/fully/qualified/name");
+
+  auto do_nothing = [](
+    const test_msgs::srv::Empty::Request::SharedPtr request,
+    test_msgs::srv::Empty::Response::SharedPtr response) -> void
+    {
+      static_cast<void>(request);
+      static_cast<void>(response);
+    };
+
+  auto srv1 = node->create_service<test_msgs::srv::Empty>("~/private/name", do_nothing);
+  auto srv2 = node->create_service<test_msgs::srv::Empty>("relative/name", do_nothing);
+  auto srv3 = node->create_service<test_msgs::srv::Empty>("/fully/qualified/name", do_nothing);
+
+  rclcpp::spin(node);
+
+  rclcpp::shutdown();
+  return 0;
+}

test_cli_remapping/test/name_maker.py

@@ -0,0 +1,48 @@
+# Copyright 2018 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 rclpy
+import rclpy.node
+from test_msgs.msg import Empty as EmptyMsg
+from test_msgs.srv import Empty as EmptySrv
+
+
+class NameMaker(rclpy.node.Node):
+
+    def __init__(self):
+        super().__init__('original_node_name', namespace='/original/namespace')
+
+        self._pubs = []
+        self._pubs.append(self.create_publisher(EmptyMsg, '~/private/name'))
+        self._pubs.append(self.create_publisher(EmptyMsg, 'relative/name'))
+        self._pubs.append(self.create_publisher(EmptyMsg, '/fully/qualified/name'))
+
+        self._srvs = []
+        self._srvs.append(self.create_service(EmptySrv, '~/private/name', lambda x: None))
+        self._srvs.append(self.create_service(EmptySrv, 'relative/name', lambda x: None))
+        self._srvs.append(self.create_service(EmptySrv, '/fully/qualified/name', lambda x: None))
+
+
+if __name__ == '__main__':
+    rclpy.init()
+
+    node = NameMaker()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print('Shutting down name_maker.py')
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()

test_cli_remapping/test/test_cli_remapping.py

@@ -0,0 +1,173 @@
+# Copyright 2018 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 asyncio
+import functools
+import os
+import random
+import sys
+import time
+
+from launch import LaunchDescriptor
+from launch.exit_handler import primary_exit_handler
+from launch.launcher import DefaultLauncher
+import pytest
+import rclpy
+
+
+def get_environment_variable(name):
+    """Get environment variable or raise if it does not exist."""
+    path = os.getenv(name)
+    if not path:
+        raise EnvironmentError('Missing environment variable "%s"' % name)
+    return path
+
+
+CLIENT_LIBRARY_EXECUTABLES = (
+    get_environment_variable('NAME_MAKER_RCLCPP'),
+    get_environment_variable('NAME_MAKER_RCLPY')
+)
+
+
+@pytest.fixture(scope='module', params=CLIENT_LIBRARY_EXECUTABLES)
+def node_fixture(request):
+    """Create a fixture with a node, name_maker executable, and random string."""
+    rclpy.init()
+    node = rclpy.create_node('test_cli_remapping')
+    try:
+        yield {
+            'node': node,
+            'executable': request.param,
+            'random_string': '%d_%s' % (
+                random.randint(0, 9999), time.strftime('%H_%M_%S', time.gmtime()))
+        }
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+def remapping_test(*, cli_args):
+    """Return a decorator that returns a test function."""
+    def real_decorator(coroutine_test):
+        """Return a test function that runs a coroutine test in a loop with a launched process."""
+        nonlocal cli_args
+
+        @functools.wraps(coroutine_test)
+        def test_func(node_fixture):
+            """Run an executable with cli_args and coroutine test in the same asyncio loop."""
+            nonlocal cli_args
+
+            # Create a command launching a name_maker executable specified by the pytest fixture
+            command = [node_fixture['executable']]
+            # format command line arguments with random string from test fixture
+            for arg in cli_args:
+                command.append(arg.format(random_string=node_fixture['random_string']))
+
+            # Execute python files using same python used to start this test
+            env = dict(os.environ)
+            if command[0][-3:] == '.py':
+                command.insert(0, sys.executable)
+                env['PYTHONUNBUFFERED'] = '1'
+
+            ld = LaunchDescriptor()
+            ld.add_process(
+                cmd=command,
+                name='name_maker_' + coroutine_test.__name__,
+                env=env
+            )
+            ld.add_coroutine(
+                coroutine_test(node_fixture),
+                name=coroutine_test.__name__,
+                exit_handler=primary_exit_handler
+            )
+            launcher = DefaultLauncher()
+            launcher.add_launch_descriptor(ld)
+            return_code = launcher.launch()
+            assert return_code == 0, 'Launch failed with exit code %r' % (return_code,)
+        return test_func
+    return real_decorator
+
+
+def get_topics(node_fixture):
+    topic_names_and_types = node_fixture['node'].get_topic_names_and_types()
+    return [name for name, _ in topic_names_and_types]
+
+
+def get_services(node_fixture):
+    service_names_and_types = node_fixture['node'].get_service_names_and_types()
+    return [name for name, _ in service_names_and_types]
+
+
+ATTEMPTS = 10
+TIME_BETWEEN_ATTEMPTS = 1
+
+
+@remapping_test(cli_args=('__node:=node_{random_string}',))
+async def test_node_name_replacement_new(node_fixture):
+    node_name = 'node_{random_string}'.format(**node_fixture)
+
+    for attempt in range(ATTEMPTS):
+        if node_name in node_fixture['node'].get_node_names():
+            break
+        await asyncio.sleep(TIME_BETWEEN_ATTEMPTS)
+        rclpy.spin_once(node_fixture['node'], timeout_sec=0)
+    assert node_name in node_fixture['node'].get_node_names()
+
+
+@remapping_test(cli_args=('__ns:=/ns/s{random_string}',))
+async def test_namespace_replacement(node_fixture):
+    name = '/ns/s{random_string}/relative/name'.format(**node_fixture)
+
+    for attempt in range(ATTEMPTS):
+        if name in get_topics(node_fixture) and name in get_services(node_fixture):
+            break
+        await asyncio.sleep(TIME_BETWEEN_ATTEMPTS)
+        rclpy.spin_once(node_fixture['node'], timeout_sec=0)
+    assert name in get_topics(node_fixture) and name in get_services(node_fixture)
+
+
+@remapping_test(cli_args=('/fully/qualified/name:=/remapped/s{random_string}',))
+async def test_topic_and_service_replacement(node_fixture):
+    name = '/remapped/s{random_string}'.format(**node_fixture)
+
+    for attempt in range(ATTEMPTS):
+        if name in get_topics(node_fixture) and name in get_services(node_fixture):
+            break
+        await asyncio.sleep(TIME_BETWEEN_ATTEMPTS)
+        rclpy.spin_once(node_fixture['node'], timeout_sec=0)
+    assert name in get_topics(node_fixture) and name in get_services(node_fixture)
+
+
+@remapping_test(cli_args=('rostopic://~/private/name:=/remapped/s{random_string}',))
+async def test_topic_replacement(node_fixture):
+    name = '/remapped/s{random_string}'.format(**node_fixture)
+
+    for attempt in range(ATTEMPTS):
+        if name in get_topics(node_fixture):
+            break
+        await asyncio.sleep(TIME_BETWEEN_ATTEMPTS)
+        rclpy.spin_once(node_fixture['node'], timeout_sec=0)
+    assert name in get_topics(node_fixture) and name not in get_services(node_fixture)
+
+
+@remapping_test(cli_args=('rosservice://~/private/name:=/remapped/s{random_string}',))
+async def test_service_replacement(node_fixture):
+    name = '/remapped/s{random_string}'.format(**node_fixture)
+
+    for attempt in range(ATTEMPTS):
+        if name in get_services(node_fixture):
+            break
+        await asyncio.sleep(TIME_BETWEEN_ATTEMPTS)
+        rclpy.spin_once(node_fixture['node'], timeout_sec=0)
+    assert name not in get_topics(node_fixture) and name in get_services(node_fixture)