Use new test interface definitions (#332)

* Use new test interface definitions

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Rename variables

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rclpy/test/test_callback_group.py

@@ -18,7 +18,7 @@
 import rclpy
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.callback_groups import ReentrantCallbackGroup
-from test_msgs.msg import Primitives
+from test_msgs.msg import BasicTypes
 
 
 class TestCallbackGroup(unittest.TestCase):
@@ -71,10 +71,10 @@ def test_create_timer_with_group(self):
         self.assertTrue(group.has_entity(tmr2))
 
     def test_create_subscription_with_group(self):
-        sub1 = self.node.create_subscription(Primitives, 'chatter', lambda msg: print(msg))
+        sub1 = self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg))
         group = ReentrantCallbackGroup()
         sub2 = self.node.create_subscription(
-            Primitives, 'chatter', lambda msg: print(msg), callback_group=group)
+            BasicTypes, 'chatter', lambda msg: print(msg), callback_group=group)
 
         self.assertFalse(group.has_entity(sub1))
         self.assertTrue(group.has_entity(sub2))

rclpy/test/test_destruction.py

@@ -15,8 +15,8 @@
 import pytest
 import rclpy
 from rclpy.handle import InvalidHandle
-from test_msgs.msg import Primitives
-from test_msgs.srv import Primitives as PrimitivesSrv
+from test_msgs.msg import BasicTypes
+from test_msgs.srv import BasicTypes as BasicTypesSrv
 
 
 def test_destroy_node():
@@ -71,16 +71,16 @@ def test_destroy_entities():
             timer = node.create_timer(0.1, None)
             timer  # noqa
             assert 1 == len(node.timers)
-            pub1 = node.create_publisher(Primitives, 'pub1_topic')
+            pub1 = node.create_publisher(BasicTypes, 'pub1_topic')
             assert 2 == len(node.publishers)
-            pub2 = node.create_publisher(Primitives, 'pub2_topic')
+            pub2 = node.create_publisher(BasicTypes, 'pub2_topic')
             pub2  # noqa
             assert 3 == len(node.publishers)
             sub1 = node.create_subscription(
-                Primitives, 'sub1_topic', lambda msg: ...)
+                BasicTypes, 'sub1_topic', lambda msg: ...)
             assert 1 == len(node.subscriptions)
             sub2 = node.create_subscription(
-                Primitives, 'sub2_topic', lambda msg: ...)
+                BasicTypes, 'sub2_topic', lambda msg: ...)
             sub2  # noqa
             assert 2 == len(node.subscriptions)
 
@@ -105,7 +105,7 @@ def test_destroy_subscription_asap():
     try:
         node = rclpy.create_node('test_destroy_subscription_asap', context=context)
         try:
-            sub = node.create_subscription(Primitives, 'sub_topic', lambda msg: ...)
+            sub = node.create_subscription(BasicTypes, 'sub_topic', lambda msg: ...)
 
             # handle valid
             with sub.handle:
@@ -154,7 +154,7 @@ def test_destroy_publisher_asap():
     try:
         node = rclpy.create_node('test_destroy_publisher_asap', context=context)
         try:
-            pub = node.create_publisher(Primitives, 'pub_topic')
+            pub = node.create_publisher(BasicTypes, 'pub_topic')
 
             # handle valid
             with pub.handle:
@@ -183,7 +183,7 @@ def test_destroy_client_asap():
     try:
         node = rclpy.create_node('test_destroy_client_asap', context=context)
         try:
-            client = node.create_client(PrimitivesSrv, 'cli_service')
+            client = node.create_client(BasicTypesSrv, 'cli_service')
 
             # handle valid
             with client.handle:
@@ -212,7 +212,7 @@ def test_destroy_service_asap():
     try:
         node = rclpy.create_node('test_destroy_service_asap', context=context)
         try:
-            service = node.create_service(PrimitivesSrv, 'srv_service', lambda req, res: ...)
+            service = node.create_service(BasicTypesSrv, 'srv_service', lambda req, res: ...)
 
             # handle valid
             with service.handle:

rclpy/test/test_messages.py

@@ -16,7 +16,7 @@
 
 import rclpy
 
-from test_msgs.msg import Primitives
+from test_msgs.msg import BasicTypes, Strings
 
 
 class TestMessages(unittest.TestCase):
@@ -40,13 +40,13 @@ def tearDownClass(cls):
         rclpy.shutdown(context=cls.context)
 
     def test_invalid_string_raises(self):
-        msg = Primitives()
+        msg = Strings()
         msg.string_value = 'ñu'
-        pub = self.node.create_publisher(Primitives, 'chatter')
+        pub = self.node.create_publisher(Strings, 'chatter')
         with self.assertRaises(UnicodeEncodeError):
             pub.publish(msg)
 
     def test_different_type_raises(self):
-        pub = self.node.create_publisher(Primitives, 'chatter')
+        pub = self.node.create_publisher(BasicTypes, 'chatter')
         with self.assertRaises(TypeError):
             pub.publish('different message type')

rclpy/test/test_node.py

@@ -23,7 +23,7 @@
 from rclpy.exceptions import InvalidTopicNameException
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.parameter import Parameter
-from test_msgs.msg import Primitives
+from test_msgs.msg import BasicTypes
 
 TEST_NODE = 'my_node'
 TEST_NAMESPACE = '/my_ns'
@@ -51,22 +51,22 @@ def test_accessors(self):
         self.assertEqual(self.node.get_clock().clock_type, ClockType.ROS_TIME)
 
     def test_create_publisher(self):
-        self.node.create_publisher(Primitives, 'chatter')
+        self.node.create_publisher(BasicTypes, 'chatter')
         with self.assertRaisesRegex(InvalidTopicNameException, 'must not contain characters'):
-            self.node.create_publisher(Primitives, 'chatter?')
+            self.node.create_publisher(BasicTypes, 'chatter?')
         with self.assertRaisesRegex(InvalidTopicNameException, 'must not start with a number'):
-            self.node.create_publisher(Primitives, '/chatter/42_is_the_answer')
+            self.node.create_publisher(BasicTypes, '/chatter/42_is_the_answer')
         with self.assertRaisesRegex(ValueError, 'unknown substitution'):
-            self.node.create_publisher(Primitives, 'chatter/{bad_sub}')
+            self.node.create_publisher(BasicTypes, 'chatter/{bad_sub}')
 
     def test_create_subscription(self):
-        self.node.create_subscription(Primitives, 'chatter', lambda msg: print(msg))
+        self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg))
         with self.assertRaisesRegex(InvalidTopicNameException, 'must not contain characters'):
-            self.node.create_subscription(Primitives, 'chatter?', lambda msg: print(msg))
+            self.node.create_subscription(BasicTypes, 'chatter?', lambda msg: print(msg))
         with self.assertRaisesRegex(InvalidTopicNameException, 'must not start with a number'):
-            self.node.create_subscription(Primitives, '/chatter/42ish', lambda msg: print(msg))
+            self.node.create_subscription(BasicTypes, '/chatter/42ish', lambda msg: print(msg))
         with self.assertRaisesRegex(ValueError, 'unknown substitution'):
-            self.node.create_subscription(Primitives, 'foo/{bad_sub}', lambda msg: print(msg))
+            self.node.create_subscription(BasicTypes, 'foo/{bad_sub}', lambda msg: print(msg))
 
     def raw_subscription_callback(self, msg):
         print('Raw subscription callback: %s length %d' % (msg, len(msg)))
@@ -75,18 +75,18 @@ def raw_subscription_callback(self, msg):
     def test_create_raw_subscription(self):
         executor = SingleThreadedExecutor(context=self.context)
         executor.add_node(self.node)
-        primitives_pub = self.node.create_publisher(Primitives, 'raw_subscription_test')
+        basic_types_pub = self.node.create_publisher(BasicTypes, 'raw_subscription_test')
         self.raw_subscription_msg = None  # None=No result yet
         self.node.create_subscription(
-            Primitives,
+            BasicTypes,
             'raw_subscription_test',
             self.raw_subscription_callback,
             raw=True
         )
-        primitives_msg = Primitives()
+        basic_types_msg = BasicTypes()
         cycle_count = 0
         while cycle_count < 5 and self.raw_subscription_msg is None:
-            primitives_pub.publish(primitives_msg)
+            basic_types_pub.publish(basic_types_msg)
             cycle_count += 1
             executor.spin_once(timeout_sec=1)
         self.assertIsNotNone(self.raw_subscription_msg, 'raw subscribe timed out')
@@ -139,15 +139,15 @@ def test_count_publishers_subscribers(self):
         self.assertEqual(0, self.node.count_publishers(fq_topic_name))
         self.assertEqual(0, self.node.count_subscribers(fq_topic_name))
 
-        self.node.create_publisher(Primitives, short_topic_name)
+        self.node.create_publisher(BasicTypes, short_topic_name)
         self.assertEqual(1, self.node.count_publishers(short_topic_name))
         self.assertEqual(1, self.node.count_publishers(fq_topic_name))
 
-        self.node.create_subscription(Primitives, short_topic_name, lambda msg: print(msg))
+        self.node.create_subscription(BasicTypes, short_topic_name, lambda msg: print(msg))
         self.assertEqual(1, self.node.count_subscribers(short_topic_name))
         self.assertEqual(1, self.node.count_subscribers(fq_topic_name))
 
-        self.node.create_subscription(Primitives, short_topic_name, lambda msg: print(msg))
+        self.node.create_subscription(BasicTypes, short_topic_name, lambda msg: print(msg))
         self.assertEqual(2, self.node.count_subscribers(short_topic_name))
         self.assertEqual(2, self.node.count_subscribers(fq_topic_name))