Migrate launch tests to new launch_testing features & API (#140)

* Update after launch_testing features becoming legacy.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Migrate rcutils tests to new launch_testing API.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Stop using injected attributes in launch tests.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Author: hidmic

CMakeLists.txt

@@ -118,6 +118,8 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
+  find_package(launch_testing_ament_cmake REQUIRED)
+
   if(ament_cmake_cppcheck_FOUND)
     ament_cppcheck(
       TESTNAME "cppcheck_logging_macros"
@@ -150,15 +152,19 @@ if(BUILD_TESTING)
 
   add_executable(test_logging_long_messages test/test_logging_long_messages.cpp)
   target_link_libraries(test_logging_long_messages ${PROJECT_NAME})
-  ament_add_pytest_test(test_logging_long_messages
+  add_launch_test(
     "test/test_logging_long_messages.py"
+    TARGET test_logging_long_messages
     WORKING_DIRECTORY "$<TARGET_FILE_DIR:test_logging_long_messages>"
-    TIMEOUT 10)
+    TIMEOUT 10
+  )
 
-  ament_add_pytest_test(test_logging_output_format
+  add_launch_test(
     "test/test_logging_output_format.py"
+    TARGET test_logging_output_format
     WORKING_DIRECTORY "$<TARGET_FILE_DIR:test_logging_long_messages>"
-    TIMEOUT 10)
+    TIMEOUT 10
+  )
 
   ament_add_gmock(test_logging_macros test/test_logging_macros.cpp)
   target_link_libraries(test_logging_macros ${PROJECT_NAME})

package.xml

@@ -17,6 +17,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
 
   <export>

test/test_logging_long_messages.py

@@ -13,38 +13,41 @@
 # limitations under the License.
 
 import os
+import unittest
 
 from launch import LaunchDescription
-from launch import LaunchService
 from launch.actions import ExecuteProcess
-from launch_testing import LaunchTestService
-from launch_testing.output import create_output_test_from_file
+from launch.actions import OpaqueFunction
 
+import launch_testing
+import launch_testing.asserts
 
-def test_logging_long_messages():
+
+def generate_test_description(ready_fn):
+    launch_description = LaunchDescription()
     # Set the output format to a "verbose" format that is expected by the executable output
     os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = \
         '[{severity}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})'
     executable = os.path.join(os.getcwd(), 'test_logging_long_messages')
     if os.name == 'nt':
         executable += '.exe'
-    ld = LaunchDescription()
-    launch_test = LaunchTestService()
-    action = launch_test.add_fixture_action(ld, ExecuteProcess(
-        cmd=[executable], name='test_logging_long_messages', output='screen'
+    process_name = 'test_logging_long_messages'
+    launch_description.add_action(ExecuteProcess(
+        cmd=[executable], name=process_name, output='screen'
     ))
-    output_file = os.path.join(
-        os.path.dirname(__file__), 'test_logging_long_messages'
-    )
-    launch_test.add_output_test(
-        ld, action, create_output_test_from_file(output_file)
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
     )
+    return launch_description, {'process_name': process_name}
 
-    launch_service = LaunchService()
-    launch_service.include_launch_description(ld)
-    return_code = launch_test.run(launch_service)
-    assert return_code == 0, 'Launch failed with exit code %r' % (return_code,)
 
+class TestLoggingLongMessages(unittest.TestCase):
 
-if __name__ == '__main__':
-    test_logging_long_messages()
+    def test_logging_output(self, proc_output, process_name):
+        """Test executable output against expectation."""
+        proc_output.assertWaitFor(
+            expected_output=launch_testing.tools.expected_output_from_file(
+                path=os.path.join(os.path.dirname(__file__), process_name)
+            ), process=process_name, timeout=10
+        )

test/test_logging_output_format.py

@@ -13,17 +13,20 @@
 # limitations under the License.
 
 import os
+import unittest
 
 from launch import LaunchDescription
-from launch import LaunchService
 from launch.actions import ExecuteProcess
-from launch_testing import LaunchTestService
-from launch_testing.output import create_output_test_from_file
+from launch.actions import OpaqueFunction
 
+import launch_testing
+import launch_testing.asserts
 
-def test_logging_output_format():
-    ld = LaunchDescription()
-    launch_test = LaunchTestService()
+
+def generate_test_description(ready_fn):
+    processes_to_test = []
+
+    launch_description = LaunchDescription()
     # Re-use the test_logging_long_messages test binary and modify the output format from an
     # environment variable.
     executable = os.path.join(os.getcwd(), 'test_logging_long_messages')
@@ -35,55 +38,59 @@ def test_logging_output_format():
     env_long['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = \
         '[{{name}}].({severity}) output: {file_name}:{line_number} {message}, again: {message} ({function_name}()){'  # noqa
     name = 'test_logging_output_format_long'
-    action = launch_test.add_fixture_action(ld, ExecuteProcess(
+    launch_description.add_action(ExecuteProcess(
         cmd=[executable], env=env_long, name=name, output='screen'
     ))
-    output_file = os.path.join(os.path.dirname(__file__), name)
-    launch_test.add_output_test(
-        ld, action, create_output_test_from_file(output_file)
-    )
+    processes_to_test.append(name)
 
     env_edge_cases = dict(os.environ)
     # This custom output is to check different edge cases of the output format string parsing.
     env_edge_cases['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '{}}].({unknown_token}) {{{{'
     name = 'test_logging_output_format_edge_cases'
-    action = launch_test.add_fixture_action(ld, ExecuteProcess(
+    launch_description.add_action(ExecuteProcess(
         cmd=[executable], env=env_edge_cases, name=name, output='screen'
     ))
-    output_file = os.path.join(os.path.dirname(__file__), name)
-    launch_test.add_output_test(
-        ld, action, create_output_test_from_file(output_file)
-    )
+    processes_to_test.append(name)
 
     env_no_tokens = dict(os.environ)
     # This custom output is to check that there are no issues when no tokens are used.
     env_no_tokens['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = 'no_tokens'
     name = 'test_logging_output_format_no_tokens'
-    action = launch_test.add_fixture_action(ld, ExecuteProcess(
+    launch_description.add_action(ExecuteProcess(
         cmd=[executable], env=env_no_tokens, name=name, output='screen'
     ))
-    output_file = os.path.join(os.path.dirname(__file__), name)
-    launch_test.add_output_test(
-        ld, action, create_output_test_from_file(output_file)
-    )
+    processes_to_test.append(name)
 
     env_time_tokens = dict(os.environ)
     # This custom output is to check that time stamps work correctly
     env_time_tokens['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = "'{time}' '{time_as_nanoseconds}'"
     name = 'test_logging_output_timestamps'
-    action = launch_test.add_fixture_action(ld, ExecuteProcess(
+    launch_description.add_action(ExecuteProcess(
         cmd=[executable], env=env_time_tokens, name=name, output='screen'
     ))
-    output_file = os.path.join(os.path.dirname(__file__), name)
-    launch_test.add_output_test(
-        ld, action, create_output_test_from_file(output_file)
+    processes_to_test.append(name)
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
     )
 
-    launch_service = LaunchService()
-    launch_service.include_launch_description(ld)
-    return_code = launch_test.run(launch_service)
-    assert return_code == 0, 'Launch failed with exit code %r' % (return_code,)
+    return launch_description, {'processes_to_test': processes_to_test}
+
+
+@launch_testing.post_shutdown_test()
+class TestLoggingOutputFormatAfterShutdown(unittest.TestCase):
 
+    def test_logging_output(self, proc_output, processes_to_test):
+        """Test all executables output against expectations."""
+        for process_name in processes_to_test:
+            launch_testing.asserts.assertInStdout(
+                proc_output,
+                expected_output=launch_testing.tools.expected_output_from_file(
+                    path=os.path.join(os.path.dirname(__file__), process_name)
+                ),
+                process=process_name
+            )
 
-if __name__ == '__main__':
-    test_logging_output_format()
+    def test_processes_exit_codes(self, proc_info):
+        """Test that all executables finished cleanly."""
+        launch_testing.asserts.assertExitCodes(proc_info)