[ros2component] Add tests for ros2component

ros2component/package.xml

@@ -24,6 +24,8 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>ros2component_test_fixtures</test_depend>
+  <test_depend>ros_testing</test_depend>
 
   <export>
     <build_type>ament_python</build_type>

ros2component/test/test_cli_list.py

@@ -0,0 +1,145 @@
+# 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 contextlib
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+from launch.actions import TimerAction
+
+from launch_ros.actions import Node
+
+import launch_testing
+import launch_testing.asserts
+import launch_testing.markers
+import launch_testing.tools
+import launch_testing_ros.tools
+
+import pytest
+
+from rmw_implementation import get_available_rmw_implementations
+
+
+@pytest.mark.rostest
+@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
+def generate_test_description(rmw_implementation, ready_fn):
+    additional_env = {'RMW_IMPLEMENTATION': rmw_implementation}
+    component_node = Node(
+        package='rclcpp_components', node_executable='component_container', output='screen',
+        additional_env=additional_env)
+    listener_command_action = ExecuteProcess(
+        cmd=['ros2', 'component', 'load', '/ComponentManager',
+             'ros2component_test_fixtures', 'ros2component_test_fixtures::Listener'],
+        additional_env={
+            'RMW_IMPLEMENTATION': rmw_implementation,
+            'PYTHONUNBUFFERED': '1'
+        },
+        name='ros2component-cli',
+        output='screen',
+        on_exit=[
+            ExecuteProcess(
+                cmd=['ros2', 'component', 'load', '/ComponentManager',
+                     'ros2component_test_fixtures', 'ros2component_test_fixtures::Talker'],
+                additional_env={
+                    'RMW_IMPLEMENTATION': rmw_implementation,
+                    'PYTHONUNBUFFERED': '1'
+                },
+                name='ros2component-cli',
+                output='screen',
+                on_exit=[
+                    ExecuteProcess(
+                        cmd=['ros2', 'component', 'load', '/ComponentManager',
+                             'ros2component_test_fixtures', 'ros2component_test_fixtures::Talker'],
+                        additional_env={
+                            'RMW_IMPLEMENTATION': rmw_implementation,
+                            'PYTHONUNBUFFERED': '1'
+                        },
+                        name='ros2component-cli',
+                        output='screen'
+                    )
+                ]
+            )
+        ]
+    )
+    return LaunchDescription([
+        # Always restart daemon to isolate tests.
+        ExecuteProcess(
+            cmd=['ros2', 'daemon', 'stop'],
+            name='daemon-stop',
+            on_exit=[
+                ExecuteProcess(
+                    cmd=['ros2', 'daemon', 'start'],
+                    name='daemon-start',
+                    on_exit=[
+                        component_node,
+                        TimerAction(period=3.0, actions=[listener_command_action]),
+                        OpaqueFunction(function=lambda context: ready_fn())
+                    ],
+                    additional_env=additional_env
+                )
+            ]
+        ),
+    ]), locals()
+
+
+class TestROS2ComponentListCLI(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(
+        cls,
+        launch_service,
+        proc_info,
+        proc_output,
+        rmw_implementation
+    ):
+        @contextlib.contextmanager
+        def launch_component_command(self, arguments):
+            component_command_action = ExecuteProcess(
+                cmd=['ros2', 'component', *arguments],
+                additional_env={
+                    'RMW_IMPLEMENTATION': rmw_implementation,
+                    'PYTHONUNBUFFERED': '1'
+                },
+                name='ros2component-cli',
+                output='screen'
+            )
+            with launch_testing.tools.launch_process(
+                launch_service, component_command_action, proc_info, proc_output,
+                output_filter=launch_testing_ros.tools.basic_output_filter(
+                    # ignore ros2cli daemon nodes
+                    filtered_patterns=['.*ros2cli.*'],
+                    filtered_rmw_implementation=rmw_implementation
+                )
+            ) as component_command:
+                yield component_command
+        cls.launch_component_command = launch_component_command
+
+    @launch_testing.markers.retry_on_failure(times=10)
+    def test_list_verb(self):
+        with self.launch_component_command(
+                arguments=['list']) as list_command:
+            assert list_command.wait_for_shutdown(timeout=30)
+        assert list_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                '/ComponentManager',
+                '  1  /listener',
+                '  2  /talker',
+                '  3  /talker'
+            ],
+            text=list_command.output,
+            strict=False
+        )

ros2component/test/test_cli_load.py

@@ -0,0 +1,217 @@
+# 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 contextlib
+import functools
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+
+from launch_ros.actions import Node
+
+import launch_testing
+import launch_testing.asserts
+import launch_testing.markers
+import launch_testing.tools
+import launch_testing_ros.tools
+
+import pytest
+
+from rmw_implementation import get_available_rmw_implementations
+
+
+@pytest.mark.rostest
+@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
+def generate_test_description(rmw_implementation, ready_fn):
+    additional_env = {'RMW_IMPLEMENTATION': rmw_implementation}
+    component_node = Node(
+        package='rclcpp_components', node_executable='component_container', output='own_log',
+        output_format='{line}', additional_env=additional_env,
+        name='container_' + rmw_implementation)
+    return LaunchDescription([
+        # Always restart daemon to isolate tests.
+        ExecuteProcess(
+            cmd=['ros2', 'daemon', 'stop'],
+            name='daemon-stop',
+            on_exit=[
+                ExecuteProcess(
+                    cmd=['ros2', 'daemon', 'start'],
+                    name='daemon-start',
+                    on_exit=[
+                        component_node,
+                        OpaqueFunction(function=lambda context: ready_fn())
+                    ],
+                    additional_env=additional_env
+                )
+            ]
+        ),
+    ]), locals()
+
+
+class TestROS2ComponentLoadCLI(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(
+        cls,
+        launch_service,
+        proc_info,
+        proc_output,
+        rmw_implementation,
+        component_node
+    ):
+        @contextlib.contextmanager
+        def launch_component_command(self, arguments):
+            component_command_action = ExecuteProcess(
+                cmd=['ros2', 'component', *arguments],
+                additional_env={
+                    'RMW_IMPLEMENTATION': rmw_implementation,
+                    'PYTHONUNBUFFERED': '1'
+                },
+                name='ros2component-cli',
+                output='screen'
+            )
+            with launch_testing.tools.launch_process(
+                launch_service, component_command_action, proc_info, proc_output,
+                output_filter=launch_testing_ros.tools.basic_output_filter(
+                    # ignore ros2cli daemon nodes
+                    filtered_patterns=['.*ros2cli.*'],
+                    filtered_rmw_implementation=rmw_implementation
+                )
+            ) as component_command:
+                yield component_command
+        cls.launch_component_command = launch_component_command
+        cls.component_node = launch_testing.tools.ProcessProxy(
+            component_node, proc_info, proc_output,
+            output_filter=launch_testing_ros.tools.basic_output_filter(
+                    # ignore ros2cli daemon nodes
+                    filtered_patterns=['.*ros2cli.*'],
+                    filtered_rmw_implementation=rmw_implementation
+                )
+        )
+
+    @launch_testing.markers.retry_on_failure(times=2)
+    def test_load_verb(self):
+        with self.launch_component_command(
+                arguments=[
+                    'load', '/ComponentManager',
+                    'ros2component_test_fixtures',
+                    'ros2component_test_fixtures::Talker']) as load_command:
+            assert load_command.wait_for_shutdown(timeout=20)
+            assert self.component_node.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    "[INFO] [talker]: Publishing: 'Hello World'"
+                ], strict=False
+            ), timeout=10)
+        assert load_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                "Loaded component 1 into '/ComponentManager' "
+                "container node as '/talker'"],
+            text=load_command.output,
+            strict=False
+        )
+        with self.launch_component_command(
+                arguments=[
+                    'load', '/ComponentManager',
+                    'ros2component_test_fixtures',
+                    'ros2component_test_fixtures::Listener']) as load_command:
+            assert load_command.wait_for_shutdown(timeout=20)
+        assert load_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                "Loaded component 2 into '/ComponentManager' "
+                "container node as '/listener'"],
+            text=load_command.output,
+            strict=False
+        )
+        with self.launch_component_command(
+                arguments=[
+                    'unload', '/ComponentManager', '1']) as unload_command:
+            assert unload_command.wait_for_shutdown(timeout=20)
+        assert unload_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=["Unloaded component 1 from '/ComponentManager' container"],
+            text=unload_command.output,
+            strict=False
+        )
+        # Test the unique id for loaded nodes.
+        with self.launch_component_command(
+                arguments=[
+                    'load', '/ComponentManager',
+                    'ros2component_test_fixtures',
+                    'ros2component_test_fixtures::Talker']) as load_command:
+            assert load_command.wait_for_shutdown(timeout=20)
+        assert load_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                "Loaded component 3 into '/ComponentManager' "
+                "container node as '/talker'"],
+            text=load_command.output,
+            strict=False
+        )
+        # Test we can load the same node more than once.
+        with self.launch_component_command(
+                arguments=[
+                    'load', '/ComponentManager',
+                    'ros2component_test_fixtures',
+                    'ros2component_test_fixtures::Talker']) as load_command:
+            assert load_command.wait_for_shutdown(timeout=20)
+            assert self.component_node.wait_for_output(functools.partial(
+                launch_testing.tools.expect_output, expected_lines=[
+                    "[INFO] [talker]: Publishing: 'Hello World'"
+                ] * 3, strict=False
+            ), timeout=10)
+        assert load_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                "Loaded component 4 into '/ComponentManager' "
+                "container node as '/talker'"],
+            text=load_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=2)
+    def test_load_nonexistent_component(self):
+        with self.launch_component_command(
+                arguments=[
+                    'load', '/ComponentManager',
+                    'ros2component_test_fixtures',
+                    'ros2component_test_fixtures::NonExistentComponent']) as load_command:
+            assert load_command.wait_for_shutdown(timeout=20)
+        assert load_command.exit_code == 1
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Failed to load component: '
+                'Failed to find class with the requested plugin name.'],
+            text=load_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=2)
+    def test_load_nonexistent_plugin(self):
+        with self.launch_component_command(
+                arguments=[
+                    'load', '/ComponentManager',
+                    'non_existent_plugin', 'non_existent_plugin::Test']) as load_command:
+            assert load_command.wait_for_shutdown(timeout=20)
+        assert load_command.exit_code == 1
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Failed to load component: '
+                'Could not find requested resource in ament index'],
+            text=load_command.output,
+            strict=False
+        )