Fix nav2_util/dump_params unit tests

nav2_util/test/CMakeLists.txt

@@ -44,10 +44,34 @@ target_link_libraries(test_robot_utils ${library_name})
 # This test is disabled due to failing services
 # https://github.com/ros-planning/navigation2/issues/1836
 
-# add_launch_test(
-#   "test_dump_params/test_dump_params.test.py"
-#   TARGET "test_dump_params"
-#   TIMEOUT 30
-#   ENV
-#     TEST_EXECUTABLE=$<TARGET_FILE:dump_params>
-# )
+add_launch_test(
+  "test_dump_params/test_dump_params_default.test.py"
+  TARGET "test_dump_params_default"
+  TIMEOUT 10
+  ENV
+    TEST_EXECUTABLE=$<TARGET_FILE:dump_params>
+)
+
+add_launch_test(
+  "test_dump_params/test_dump_params_yaml.test.py"
+  TARGET "test_dump_params_yaml"
+  TIMEOUT 10
+  ENV
+    TEST_EXECUTABLE=$<TARGET_FILE:dump_params>
+)
+
+add_launch_test(
+  "test_dump_params/test_dump_params_md.test.py"
+  TARGET "test_dump_params_md"
+  TIMEOUT 10
+  ENV
+    TEST_EXECUTABLE=$<TARGET_FILE:dump_params>
+)
+
+add_launch_test(
+  "test_dump_params/test_dump_params_multiple.test.py"
+  TARGET "test_dump_params_multiple"
+  TIMEOUT 10
+  ENV
+    TEST_EXECUTABLE=$<TARGET_FILE:dump_params>
+)

nav2_util/test/test_dump_params/test_dump_params.test.py → nav2_util/test/test_dump_params/test_dump_params_default.test.py

@@ -37,12 +37,6 @@ def generate_test_description():
             cmd=[os.path.join(os.path.dirname(__file__), 'test_dump_params_node.py')],
             name='test_dump_params')
     )
-    launch_description.add_action(
-        ExecuteProcess(
-            cmd=[os.path.join(os.path.dirname(__file__), 'test_dump_params_node.py'),
-                 'test_dump_params_copy'],
-            name='test_dump_params_copy')
-    )
     processes_to_test = [
         ExecuteProcess(
             cmd=[os.getenv('TEST_EXECUTABLE'), '-h'],
@@ -52,30 +46,6 @@ def generate_test_description():
             cmd=[os.getenv('TEST_EXECUTABLE')],
             name='test_dump_params_default',
             output='screen'),
-        ExecuteProcess(
-            cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params'],
-            name='test_dump_params_yaml',
-            output='screen'),
-        ExecuteProcess(
-            cmd=[os.getenv('TEST_EXECUTABLE'), '-f', 'md', '-n', 'test_dump_params'],
-            name='test_dump_params_markdown',
-            output='screen'),
-        ExecuteProcess(
-            cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params', '-v'],
-            name='test_dump_params_yaml_verbose',
-            output='screen'),
-        ExecuteProcess(
-            cmd=[os.getenv('TEST_EXECUTABLE'), '-f', 'md', '-n', 'test_dump_params', '-v'],
-            name='test_dump_params_markdown_verbose',
-            output='screen'),
-        ExecuteProcess(
-            cmd=[os.getenv('TEST_EXECUTABLE'), '-f', 'error', '-n', 'test_dump_params'],
-            name='test_dump_params_bad_format',
-            output='screen'),
-        ExecuteProcess(
-            cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params,test_dump_params_copy'],
-            name='test_dump_params_multiple',
-            output='screen'),
         ExecuteProcess(
             cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params_error'],
             name='test_dump_params_error',
@@ -114,12 +84,6 @@ def test_processes_output(self, proc_output, processes_to_test):
             os.path.join(os.path.dirname(__file__), out)
             for out in ['dump_params_help',
                         'dump_params_default',
-                        'dump_params_yaml',
-                        'dump_params_md',
-                        'dump_params_yaml_verbose',
-                        'dump_params_md_verbose',
-                        'dump_params_yaml',
-                        'dump_params_multiple',
                         'dump_params_error']
         ]
         for process, output_file in zip(processes_to_test[:-1], output_files[:-1]):

nav2_util/test/test_dump_params/test_dump_params_md.test.py

@@ -0,0 +1,90 @@
+#! /usr/bin/env python3
+# Copyright (c) 2020 Sarthak Mittal
+#
+# 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
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+import launch_testing
+import launch_testing.actions
+import launch_testing.asserts
+import launch_testing.util
+import launch_testing_ros
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    launch_description = LaunchDescription()
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[os.path.join(os.path.dirname(__file__), 'test_dump_params_node.py')],
+            name='test_dump_params')
+    )
+    processes_to_test = [
+        ExecuteProcess(
+            cmd=[os.getenv('TEST_EXECUTABLE'), '-f', 'md', '-n', 'test_dump_params'],
+            name='test_dump_params_markdown',
+            output='screen'),
+        ExecuteProcess(
+            cmd=[os.getenv('TEST_EXECUTABLE'), '-f', 'md', '-n', 'test_dump_params', '-v'],
+            name='test_dump_params_markdown_verbose',
+            output='screen')
+    ]
+    for process in processes_to_test:
+        launch_description.add_action(process)
+    launch_description.add_action(
+        launch_testing.actions.ReadyToTest()
+    )
+    return launch_description, {'processes_to_test': processes_to_test}
+
+
+# Tests without a unittest to run concurrently with
+# the processes under test throw an exception
+# The following is a dummy test to suppress the traceback
+# https://github.com/ros2/launch/issues/380
+
+class TestLoggingOutputFormat(unittest.TestCase):
+
+    def test_logging_output(self, proc_info, processes_to_test):
+        for process_name in processes_to_test:
+            proc_info.assertWaitForShutdown(process=process_name, timeout=10)
+
+
+@launch_testing.post_shutdown_test()
+class TestDumpParams(unittest.TestCase):
+
+    def test_processes_output(self, proc_output, processes_to_test):
+        """Test all processes output against expectations."""
+        from launch_testing.tools.output import get_default_filtered_prefixes
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_prefixes=get_default_filtered_prefixes()
+        )
+        output_files = [
+            os.path.join(os.path.dirname(__file__), out)
+            for out in ['dump_params_md',
+                        'dump_params_md_verbose']
+        ]
+        for process, output_file in zip(processes_to_test, output_files):
+            launch_testing.asserts.assertInStdout(
+                proc_output,
+                expected_output=launch_testing.tools.expected_output_from_file(
+                    path=output_file),
+                process=process, output_filter=output_filter
+            )

nav2_util/test/test_dump_params/test_dump_params_multiple.test.py

@@ -0,0 +1,96 @@
+#! /usr/bin/env python3
+# Copyright (c) 2020 Sarthak Mittal
+#
+# 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
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+import launch_testing
+import launch_testing.actions
+import launch_testing.asserts
+import launch_testing.util
+import launch_testing_ros
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    launch_description = LaunchDescription()
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[os.path.join(os.path.dirname(__file__), 'test_dump_params_node.py')],
+            name='test_dump_params')
+    )
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[os.path.join(os.path.dirname(__file__), 'test_dump_params_node.py'),
+                 'test_dump_params_copy'],
+            name='test_dump_params_copy')
+    )
+    processes_to_test = [
+        ExecuteProcess(
+            cmd=[os.getenv('TEST_EXECUTABLE'), '-f', 'error', '-n', 'test_dump_params'],
+            name='test_dump_params_bad_format',
+            output='screen'),
+        ExecuteProcess(
+            cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params,test_dump_params_copy'],
+            name='test_dump_params_multiple',
+            output='screen')
+    ]
+    for process in processes_to_test:
+        launch_description.add_action(process)
+    launch_description.add_action(
+        launch_testing.actions.ReadyToTest()
+    )
+    return launch_description, {'processes_to_test': processes_to_test}
+
+
+# Tests without a unittest to run concurrently with
+# the processes under test throw an exception
+# The following is a dummy test to suppress the traceback
+# https://github.com/ros2/launch/issues/380
+
+class TestLoggingOutputFormat(unittest.TestCase):
+
+    def test_logging_output(self, proc_info, processes_to_test):
+        for process_name in processes_to_test:
+            proc_info.assertWaitForShutdown(process=process_name, timeout=10)
+
+
+@launch_testing.post_shutdown_test()
+class TestDumpParams(unittest.TestCase):
+
+    def test_processes_output(self, proc_output, processes_to_test):
+        """Test all processes output against expectations."""
+        from launch_testing.tools.output import get_default_filtered_prefixes
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_prefixes=get_default_filtered_prefixes()
+        )
+        output_files = [
+            os.path.join(os.path.dirname(__file__), out)
+            for out in ['dump_params_yaml',
+                        'dump_params_multiple']
+        ]
+        for process, output_file in zip(processes_to_test[:-1], output_files[:-1]):
+            launch_testing.asserts.assertInStdout(
+                proc_output,
+                expected_output=launch_testing.tools.expected_output_from_file(
+                    path=output_file),
+                process=process, output_filter=output_filter
+            )

nav2_util/test/test_dump_params/test_dump_params_yaml.test.py

@@ -0,0 +1,90 @@
+#! /usr/bin/env python3
+# Copyright (c) 2020 Sarthak Mittal
+#
+# 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
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+import launch_testing
+import launch_testing.actions
+import launch_testing.asserts
+import launch_testing.util
+import launch_testing_ros
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    launch_description = LaunchDescription()
+    launch_description.add_action(
+        ExecuteProcess(
+            cmd=[os.path.join(os.path.dirname(__file__), 'test_dump_params_node.py')],
+            name='test_dump_params')
+    )
+    processes_to_test = [
+        ExecuteProcess(
+            cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params'],
+            name='test_dump_params_yaml',
+            output='screen'),
+        ExecuteProcess(
+            cmd=[os.getenv('TEST_EXECUTABLE'), '-n', 'test_dump_params', '-v'],
+            name='test_dump_params_yaml_verbose',
+            output='screen')
+    ]
+    for process in processes_to_test:
+        launch_description.add_action(process)
+    launch_description.add_action(
+        launch_testing.actions.ReadyToTest()
+    )
+    return launch_description, {'processes_to_test': processes_to_test}
+
+
+# Tests without a unittest to run concurrently with
+# the processes under test throw an exception
+# The following is a dummy test to suppress the traceback
+# https://github.com/ros2/launch/issues/380
+
+class TestLoggingOutputFormat(unittest.TestCase):
+
+    def test_logging_output(self, proc_info, processes_to_test):
+        for process_name in processes_to_test:
+            proc_info.assertWaitForShutdown(process=process_name, timeout=10)
+
+
+@launch_testing.post_shutdown_test()
+class TestDumpParams(unittest.TestCase):
+
+    def test_processes_output(self, proc_output, processes_to_test):
+        """Test all processes output against expectations."""
+        from launch_testing.tools.output import get_default_filtered_prefixes
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_prefixes=get_default_filtered_prefixes()
+        )
+        output_files = [
+            os.path.join(os.path.dirname(__file__), out)
+            for out in ['dump_params_yaml',
+                        'dump_params_yaml_verbose']
+        ]
+        for process, output_file in zip(processes_to_test, output_files):
+            launch_testing.asserts.assertInStdout(
+                proc_output,
+                expected_output=launch_testing.tools.expected_output_from_file(
+                    path=output_file),
+                process=process, output_filter=output_filter
+            )