End-to-end test coverage for CLI commands output

ros2action/package.xml

@@ -23,6 +23,7 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>ament_xmllint</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <test_depend>ros_testing</test_depend>
   <test_depend>test_msgs</test_depend>
 
   <export>

ros2action/test/fixtures/fibonacci_action_server.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+# 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 time
+
+import sys
+
+import rclpy
+from rclpy.action import ActionServer
+from rclpy.node import Node
+
+from test_msgs.action import Fibonacci
+
+
+class FibonacciActionServer(Node):
+
+    def __init__(self):
+        super().__init__('fibonacci_action_server')
+        self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            self.execute_callback)
+
+    def destroy_node(self):
+        self._action_server.destroy()
+        super().destroy_node()
+
+    def execute_callback(self, goal_handle):
+        feedback = Fibonacci.Feedback()
+        feedback.sequence = [0, 1]
+
+        for i in range(1, goal_handle.request.order):
+            feedback.sequence.append(feedback.sequence[i] + feedback.sequence[i-1])
+            goal_handle.publish_feedback(feedback)
+
+        goal_handle.succeed()
+
+        result = Fibonacci.Result()
+        result.sequence = feedback.sequence
+        return result
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = FibonacciActionServer()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print('server stopped cleanly')
+    except BaseException:
+        print('exception in server:', file=sys.stderr)
+        raise
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2action/test/test_cli.py

@@ -0,0 +1,313 @@
+# 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 os
+import re
+import sys
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+
+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
+
+import yaml
+
+
+@pytest.mark.rostest
+@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
+def generate_test_description(rmw_implementation, ready_fn):
+    path_to_action_server_executable = os.path.join(
+        os.path.dirname(__file__), 'fixtures', 'fibonacci_action_server.py'
+    )
+    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=[
+                        ExecuteProcess(
+                            cmd=[sys.executable, path_to_action_server_executable],
+                            additional_env={'RMW_IMPLEMENTATION': rmw_implementation}
+                        ),
+                        OpaqueFunction(function=lambda context: ready_fn())
+                    ],
+                    additional_env={'RMW_IMPLEMENTATION': rmw_implementation}
+                )
+            ]
+        ),
+    ])
+
+
+def get_fibonacci_send_goal_output(*, order=1, with_feedback=False):
+    assert order > 0
+    output = [
+        'Waiting for an action server to become available...',
+        'Sending goal:',
+        '     order: {}'.format(order),
+        '',
+        re.compile('Goal accepted with ID: [a-f0-9]+'),
+        '',
+    ]
+    sequence = [0, 1]
+    for _ in range(order - 1):
+        sequence.append(sequence[-1] + sequence[-2])
+        if with_feedback:
+            output.append('Feedback:')
+            output.extend(('    ' + yaml.dump({
+                'sequence': sequence
+            })).splitlines())
+            output.append('')
+    output.append('Result:'),
+    output.extend(('    ' + yaml.dump({
+        'sequence': sequence
+    })).splitlines())
+    output.append('')
+    output.append('Goal finished with status: SUCCEEDED')
+    return output
+
+
+class TestROS2ActionCLI(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(
+        cls,
+        launch_service,
+        proc_info,
+        proc_output,
+        rmw_implementation
+    ):
+        @contextlib.contextmanager
+        def launch_action_command(self, arguments):
+            action_command_action = ExecuteProcess(
+                cmd=['ros2', 'action', *arguments],
+                name='ros2action-cli', output='screen',
+                additional_env={
+                    'RMW_IMPLEMENTATION': rmw_implementation,
+                    'PYTHONUNBUFFERED': '1'
+                }
+            )
+            with launch_testing.tools.launch_process(
+                launch_service, action_command_action, proc_info, proc_output,
+                output_filter=launch_testing_ros.tools.basic_output_filter(
+                    filtered_rmw_implementation=rmw_implementation
+                )
+            ) as action_command:
+                yield action_command
+        cls.launch_action_command = launch_action_command
+
+    def test_info_on_nonexistent_action(self):
+        with self.launch_action_command(arguments=['info', '/not_an_action']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Action: /not_an_action',
+                'Action clients: 0',
+                'Action servers: 0',
+            ],
+            text=action_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_fibonacci_info(self):
+        with self.launch_action_command(arguments=['info', '/fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Action: /fibonacci',
+                'Action clients: 0',
+                'Action servers: 1',
+                '  /fibonacci_action_server'
+            ],
+            text=action_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_fibonacci_info_with_types(self):
+        with self.launch_action_command(arguments=['info', '-t', '/fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Action: /fibonacci',
+                'Action clients: 0',
+                'Action servers: 1',
+                '  /fibonacci_action_server [test_msgs/action/Fibonacci]'
+            ],
+            text=action_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_fibonacci_info_count(self):
+        with self.launch_action_command(arguments=['info', '-c', '/fibonacci']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'Action: /fibonacci',
+                'Action clients: 0',
+                'Action servers: 1',
+            ],
+            text=action_command.output,
+            strict=False
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_list(self):
+        with self.launch_action_command(arguments=['list']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=['/fibonacci'],
+            text=action_command.output,
+            strict=True
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_list_with_types(self):
+        with self.launch_action_command(arguments=['list', '-t']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=['/fibonacci [test_msgs/action/Fibonacci]'],
+            text=action_command.output, strict=True
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_list_count(self):
+        with self.launch_action_command(arguments=['list', '-c']) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        command_output_lines = action_command.output.splitlines()
+        assert len(command_output_lines) == 1
+        assert int(command_output_lines[0]) == 1
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_send_fibonacci_goal(self):
+        with self.launch_action_command(
+            arguments=[
+                'send_goal',
+                '/fibonacci',
+                'test_msgs/action/Fibonacci',
+                '{order: 5}'
+            ],
+        ) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=get_fibonacci_send_goal_output(order=5),
+            text=action_command.output, strict=True
+        )
+
+    @launch_testing.markers.retry_on_failure(times=5)
+    def test_send_fibonacci_goal_with_feedback(self):
+        with self.launch_action_command(
+            arguments=[
+                'send_goal',
+                '-f',
+                '/fibonacci',
+                'test_msgs/action/Fibonacci',
+                '{order: 5}'
+            ],
+        ) as action_command:
+            assert action_command.wait_for_shutdown(timeout=10)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=get_fibonacci_send_goal_output(
+                order=5, with_feedback=True
+            ),
+            text=action_command.output, strict=True
+        )
+
+    def test_show_fibonacci(self):
+        with self.launch_action_command(
+            arguments=['show', 'test_msgs/action/Fibonacci'],
+        ) as action_command:
+            assert action_command.wait_for_shutdown(timeout=2)
+        assert action_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                'int32 order',
+                '---',
+                'int32[] sequence',
+                '---',
+                'int32[] sequence'
+            ],
+            text=action_command.output,
+            strict=False
+        )
+
+    def test_show_not_a_package(self):
+        with self.launch_action_command(
+            arguments=['show', 'not_a_package/action/Fibonacci'],
+        ) as action_command:
+            assert action_command.wait_for_shutdown(timeout=2)
+        assert action_command.exit_code == 1
+        assert launch_testing.tools.expect_output(
+            expected_lines=['Unknown package name'],
+            text=action_command.output, strict=True
+        )
+
+    # TODO(hidmic): make 'ros2 action show' fail accordingly
+    # def test_show_not_an_action_ns(self):
+    #     with self.launch_action_command(
+    #             arguments=['show', 'test_msgs/foo/Fibonacci'],
+    #     ) as action_command:
+    #         assert action_command.wait_for_shutdown(timeout=2)
+    #     assert action_command.exit_code == 1
+    #     assert launch_testing.tools.expect_output(
+    #         expected_lines=['Unknown action type'],
+    #         text=action_command.output, strict=True
+    #     )
+
+    def test_show_not_an_action_typename(self):
+        with self.launch_action_command(
+            arguments=['show', 'test_msgs/action/NotAnActionTypeName'],
+        ) as action_command:
+            assert action_command.wait_for_shutdown(timeout=2)
+        assert action_command.exit_code == 1
+        assert launch_testing.tools.expect_output(
+            expected_lines=['Unknown action type'],
+            text=action_command.output, strict=True
+        )
+
+    def test_show_not_an_action_type(self):
+        with self.launch_action_command(
+            arguments=['show', 'not_an_action_type']
+        ) as action_command:
+            assert action_command.wait_for_shutdown(timeout=2)
+        assert action_command.exit_code == 1
+        assert launch_testing.tools.expect_output(
+            expected_lines=['The passed action type is invalid'],
+            text=action_command.output, strict=True
+        )