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How to use assert_matches method in PyHamcrest

Best Python code snippet using PyHamcrest_python
test_xacro.py
Source:test_xacro.py
...263class TestXacroBase(unittest.TestCase):264    def __init__(self, *args, **kwargs):265        super(TestXacroBase, self).__init__(*args, **kwargs)266        self.ignore_nodes = []267    def assert_matches(self, a, b):268        self.assertTrue(xml_matches(a, b, self.ignore_nodes))269    def quick_xacro(self, xml, cli=None, **kwargs):270        args = {}271        if cli:272            opts, _ = xacro.cli.process_args(cli, require_input=False)273            args.update(vars(opts))  # initialize with cli args274        args.update(kwargs)  # explicit function args have highest priority275        doc = xacro.parse(xml)276        xacro.process_doc(doc, **args)277        return doc278    def run_xacro(self, input_path, *args):279        args = list(args)280        subprocess.call(['xacro', input_path] + args)281# class to match XML docs while ignoring any comments282class TestXacroCommentsIgnored(TestXacroBase):283    def __init__(self, *args, **kwargs):284        super(TestXacroCommentsIgnored, self).__init__(*args, **kwargs)285        self.ignore_nodes = [xml.dom.Node.COMMENT_NODE]286    def test_pr2(self):287        # run xacro on the pr2 tree snapshot288        test_dir = os.path.abspath(os.path.dirname(__file__))289        pr2_xacro_path = os.path.join(test_dir, 'robots', 'pr2', 'pr2.urdf.xacro')290        pr2_golden_parse_path = os.path.join(test_dir, 'robots', 'pr2', 'pr2_1.11.4.xml')291        self.assert_matches(292            xml.dom.minidom.parse(pr2_golden_parse_path),293            self.quick_xacro(open(pr2_xacro_path)))294# standard test class (including the test from TestXacroCommentsIgnored)295class TestXacro(TestXacroCommentsIgnored):296    def __init__(self, *args, **kwargs):297        super(TestXacroCommentsIgnored, self).__init__(*args, **kwargs)298        self.ignore_nodes = []299    def test_invalid_property_name(self):300        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">301        <xacro:property name="invalid.name"/></a>'''302        self.assertRaises(xacro.XacroException, self.quick_xacro, src)303    def test_dynamic_macro_names(self):304        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">305  <xacro:macro name="foo"><a>foo</a></xacro:macro>306  <xacro:macro name="bar"><b>bar</b></xacro:macro>307  <xacro:property name="var" value="%s"/>308  <xacro:call macro="${var}"/></a>'''309        res = '''<a>%s</a>'''310        self.assert_matches(self.quick_xacro(src % "foo"), res % "<a>foo</a>")311        self.assert_matches(self.quick_xacro(src % "bar"), res % "<b>bar</b>")312    def test_dynamic_macro_name_clash(self):313        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">314  <xacro:macro name="foo"><a name="foo"/></xacro:macro>315  <xacro:macro name="call"><a name="bar"/></xacro:macro>316  <xacro:call macro="foo"/></a>'''317        self.assertRaises(xacro.XacroException, self.quick_xacro, src)318    def test_dynamic_macro_undefined(self):319        self.assertRaises(xacro.XacroException,320                          self.quick_xacro,321                          '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">322                          <xacro:call macro="foo"/></a>''')323    def test_macro_undefined(self):324        self.assertRaises(xacro.XacroException,325                          self.quick_xacro,326                          '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">327                          <xacro:undefined><foo/><bar/></xacro:undefined></a>''')328    def test_xacro_element(self):329        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">330  <xacro:macro name="foo" params="name"><xacro:element xacro:name="${name}"/></xacro:macro>331  <xacro:foo name="A"/>332  <xacro:foo name="B"/>333</a>'''334        res = '''<a><A/><B/></a>'''335        self.assert_matches(self.quick_xacro(src), res)336    def test_xacro_attribute(self):337        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">338  <xacro:macro name="foo" params="name value">339  <tag><xacro:attribute name="${name}" value="${value}"/></tag>340  </xacro:macro>341  <xacro:foo name="A" value="foo"/>342  <xacro:foo name="B" value="bar"/>343</a>'''344        res = '''<a><tag A="foo"/><tag B="bar"/></a>'''345        self.assert_matches(self.quick_xacro(src), res)346    def test_inorder_processing(self):347        src = '''348<xml xmlns:xacro="http://www.ros.org/wiki/xacro">349  <xacro:property name="foo" value="1.0"/>350  <xacro:macro name="m" params="foo"><a foo="${foo}"/></xacro:macro>351  <xacro:m foo="1 ${foo}"/>352  <!-- now redefining the property and macro -->353  <xacro:property name="foo" value="2.0"/>354  <xacro:macro name="m" params="foo"><b bar="${foo}"/></xacro:macro>355  <xacro:m foo="2 ${foo}"/>356</xml>'''357        expected = '''358<xml>359  <a foo="1 1.0"/>360  <b bar="2 2.0"/>361</xml>362'''363        self.assert_matches(self.quick_xacro(src), expected)364    def test_should_replace_before_macroexpand(self):365        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">366<xacro:macro name="inner" params="*the_block">367  <in_the_inner><xacro:insert_block name="the_block" /></in_the_inner>368</xacro:macro>369<xacro:macro name="outer" params="*the_block">370  <in_the_outer><xacro:inner><xacro:insert_block name="the_block" /></xacro:inner></in_the_outer>371</xacro:macro>372<xacro:outer><woot /></xacro:outer></a>'''373        res = '''<a><in_the_outer><in_the_inner><woot /></in_the_inner></in_the_outer></a>'''374        self.assert_matches(self.quick_xacro(src), res)375    def test_evaluate_macro_params_before_body(self):376        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">377  <xacro:macro name="foo" params="lst">${lst[-1]}</xacro:macro>378  <xacro:foo lst="${[1,2,3]}"/></a>'''379        self.assert_matches(self.quick_xacro(src), '''<a>3</a>''')380    def test_macro_params_escaped_string(self):381        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">382    <xacro:macro name="foo" params="a='1 -2' c=3"><bar a="${a}" c="${c}"/></xacro:macro>383    <xacro:foo/></a>'''384        self.assert_matches(self.quick_xacro(src), '''<a><bar a="1 -2" c="3"/></a>''')385    def test_property_replacement(self):386        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">387  <xacro:property name="foo" value="42" />388  <the_foo result="${foo}" />389</a>'''390        res = '''<a><the_foo result="42"/></a>'''391        self.assert_matches(self.quick_xacro(src), res)392    def test_property_scope_parent(self):393        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">394  <xacro:macro name="foo" params="factor">395  <xacro:property name="foo" value="${21*factor}" scope="parent"/>396  </xacro:macro>397  <xacro:foo factor="2"/><a foo="${foo}"/></a>'''398        self.assert_matches(self.quick_xacro(src), '''<a><a foo="42"/></a>''')399    def test_property_scope_global(self):400        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">401  <xacro:macro name="foo" params="factor">402    <xacro:macro name="bar">403      <xacro:property name="foo" value="${21*factor}" scope="global"/>404    </xacro:macro>405    <xacro:bar/>406  </xacro:macro>407  <xacro:foo factor="2"/><a foo="${foo}"/></a>'''408        self.assert_matches(self.quick_xacro(src), '''<a><a foo="42"/></a>''')409    def test_property_in_comprehension(self):410        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">411          <xacro:property name="abc" value="${[1,2,3]}"/>412          <xacro:property name="xyz" value="${[abc[i]*abc[i] for i in [0,1,2]]}"/>413          ${xyz}414        </a>'''415        self.assert_matches(self.quick_xacro(src), '''<a>[1, 4, 9]</a>''')416    def test_math_ignores_spaces(self):417        src = '''<a><f v="${0.9 / 2 - 0.2}" /></a>'''418        self.assert_matches(self.quick_xacro(src), '''<a><f v="0.25" /></a>''')419    def test_substitution_args_find(self):420        resolved = self.quick_xacro('''<a>$(find xacro)/test/test_xacro.py</a>''').firstChild.firstChild.data421        self.assertEqual(os.path.realpath(resolved), os.path.realpath(__file__))422    def test_substitution_args_arg(self):423        res = '''<a><f v="my_arg" /></a>'''424        self.assert_matches(self.quick_xacro('''<a><f v="$(arg sub_arg)" /></a>''', cli=['sub_arg:=my_arg']), res)425    def test_escaping_dollar_braces(self):426        src = '''<a b="$${foo}" c="$$${foo}" d="text $${foo}" e="text $$${foo}" f="$$(pwd)" />'''427        res = '''<a b="${foo}" c="$${foo}" d="text ${foo}" e="text $${foo}" f="$(pwd)" />'''428        self.assert_matches(self.quick_xacro(src), res)429    def test_just_a_dollar_sign(self):430        src = '''<a b="$" c="text $" d="text $ text"/>'''431        self.assert_matches(self.quick_xacro(src), src)432    def test_multiple_insert_blocks(self):433        self.assert_matches(self.quick_xacro('''<a xmlns:xacro="http://www.ros.org/wiki/xacro">434<xacro:macro name="foo" params="*block">435  <xacro:insert_block name="block" />436  <xacro:insert_block name="block" />437</xacro:macro>438<xacro:foo>439  <a_block />440</xacro:foo>441</a>'''), '''<a>442  <a_block />443  <a_block />444</a>''')445    def test_multiple_blocks(self):446        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">447<xacro:macro name="foo" params="*block{A} *block{B}">448  <xacro:insert_block name="block1" />449  <xacro:insert_block name="block2" />450</xacro:macro>451<xacro:foo>452  <block1/>453  <block2/>454</xacro:foo>455</a>'''456        res = '''<a>457<block{A}/>458<block{B}/>459</a>'''460        # test both, reversal and non-reversal of block order461        for d in [dict(A='1', B='2'), dict(A='2', B='1')]:462            self.assert_matches(self.quick_xacro(src.format(**d)), res.format(**d))463    def test_integer_stays_integer(self):464        self.assert_matches(self.quick_xacro('''<a xmlns:xacro="http://www.ros.org/wiki/xacro">465<xacro:macro name="m" params="num">466  <test number="${num}" />467</xacro:macro>468<xacro:m num="100" />469</a>'''), '''470<a>471  <test number="100" />472</a>''')473    def test_insert_block_property(self):474        self.assert_matches(self.quick_xacro('''<a xmlns:xacro="http://www.ros.org/wiki/xacro">475<xacro:macro name="bar">bar</xacro:macro>476<xacro:property name="val" value="2" />477<xacro:property name="some_block">478  <some_block attr="${val}"><xacro:bar/></some_block>479</xacro:property>480<foo>481  <xacro:insert_block name="some_block" />482</foo>483</a>'''), '''484<a>485<foo><some_block attr="2">bar</some_block></foo>486</a>''')487    def test_include(self):488        src = '''<a xmlns:xacro="http://www.ros.org/xacro"><xacro:include filename="include1.xml"/></a>'''489        self.assert_matches(self.quick_xacro(src), '''<a><inc1/></a>''')490    def test_include_glob(self):491        src = '''<a xmlns:xacro="http://www.ros.org/xacro"><xacro:include filename="include{glob}.xml"/></a>'''492        res = '<a><inc1/><inc2/></a>'493        for pattern in ['*', '?', '[1-2]']:494            self.assert_matches(self.quick_xacro(src.format(glob=pattern)), res)495    def test_include_nonexistent(self):496        self.assertRaises(xacro.XacroException,497                          self.quick_xacro, '''<a xmlns:xacro="http://www.ros.org/xacro">498                             <xacro:include filename="include-nada.xml" /></a>''')499    def test_include_deprecated(self):500        # <include> tags with some non-trivial content should not issue the deprecation warning501        src = '''<a><include filename="nada"><tag/></include></a>'''502        with capture_stderr(self.quick_xacro, src) as (result, output):503            self.assert_matches(result, src)504            self.assertEqual(output, '')505    def test_include_from_variable(self):506        doc = '''<a xmlns:xacro="http://www.ros.org/xacro">507        <xacro:property name="file" value="include1.xml"/>508        <xacro:include filename="${file}" /></a>'''509        self.assert_matches(self.quick_xacro(doc), '''<a><inc1/></a>''')510    def test_include_recursive(self):511        self.assert_matches(self.quick_xacro('''512<a xmlns:xacro="http://www.ros.org/xacro">513    <xacro:include filename="include1.xml"/>514    <xacro:include filename="./include1.xml"/>515    <xacro:include filename="subdir/include-recursive.xacro"/>516</a>'''), '''517<a><inc1/><inc1/><subdir_inc1/><subdir_inc1/><inc1/></a>''')518    def test_include_with_namespace(self):519        src = '''520<a xmlns:xacro="http://www.ros.org/wiki/xacro">521  <xacro:property name="var" value="main"/>522  <xacro:include filename="include1.xacro" ns="A"/>523  <xacro:include filename="include2.xacro" ns="B"/>524  <xacro:A.foo/><B.foo/>525  <main var="${var}" A="${2*A.var}" B="${B.var+1}"/>526</a>'''527        res = '''528<a>529    <inc1/><inc2/><main var="main" A="2" B="3"/>530</a>'''531        self.assert_matches(self.quick_xacro(src), res)532    def test_boolean_if_statement(self):533        self.assert_matches(self.quick_xacro('''534<robot xmlns:xacro="http://www.ros.org/wiki/xacro">535  <xacro:if value="false">536    <a />537  </xacro:if>538  <xacro:if value="true">539    <b />540  </xacro:if>541</robot>'''), '''542<robot>543    <b />544</robot>''')545    def test_invalid_if_statement(self):546        self.assertRaises(xacro.XacroException,547                          self.quick_xacro,548                          '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">549                          <xacro:if value="nonsense"><foo/></xacro:if></a>''')550    def test_integer_if_statement(self):551        self.assert_matches(self.quick_xacro('''552<robot xmlns:xacro="http://www.ros.org/wiki/xacro">553  <xacro:if value="${0*42}">554    <a />555  </xacro:if>556  <xacro:if value="0">557    <b />558  </xacro:if>559  <xacro:if value="${0}">560    <c />561  </xacro:if>562  <xacro:if value="${1*2+3}">563    <d />564  </xacro:if>565</robot>'''), '''566<robot>567    <d />568</robot>''')569    def test_float_if_statement(self):570        self.assert_matches(self.quick_xacro('''571<robot xmlns:xacro="http://www.ros.org/wiki/xacro">572  <xacro:if value="${3*0.0}">573    <a />574  </xacro:if>575  <xacro:if value="${3*0.1}">576    <b />577  </xacro:if>578</robot>'''), '''579<robot>580    <b />581</robot>''')582    def test_property_if_statement(self):583        self.assert_matches(self.quick_xacro('''584<robot xmlns:xacro="http://www.ros.org/wiki/xacro">585  <xacro:property name="condT" value="${True}"/>586  <xacro:property name="condF" value="${False}"/>587  <xacro:if value="${condF}"><a /></xacro:if>588  <xacro:if value="${condT}"><b /></xacro:if>589  <xacro:if value="${True}"><c /></xacro:if>590</robot>'''), '''591<robot>592    <b /><c />593</robot>''')594    def test_consecutive_if(self):595        self.assert_matches(self.quick_xacro('''596<a xmlns:xacro="http://www.ros.org/wiki/xacro">597  <xacro:if value="1"><xacro:if value="0"><a>bar</a></xacro:if></xacro:if>598</a>'''), '''<a/>''')599    def test_equality_expression_in_if_statement(self):600        self.assert_matches(self.quick_xacro('''601<a xmlns:xacro="http://www.ros.org/wiki/xacro">602  <xacro:property name="var" value="useit"/>603  <xacro:if value="${var == 'useit'}"><foo>bar</foo></xacro:if>604  <xacro:if value="${'use' in var}"><bar>foo</bar></xacro:if>605</a>'''), '''606<a>607  <foo>bar</foo>608  <bar>foo</bar>609</a>''')610    def test_no_evaluation(self):611        self.assert_matches(self.quick_xacro('''612<a xmlns:xacro="http://www.ros.org/wiki/xacro">613  <xacro:property name="xyz" value="5 -2"/>614  <foo>${xyz}</foo>615</a>'''), '''616<a>617  <foo>5 -2</foo>618</a>''')619    def test_math_expressions(self):620        self.assert_matches(self.quick_xacro('''621<a xmlns:xacro="http://www.ros.org/wiki/xacro">622  <foo function="${1. + sin(pi)}"/>623</a>'''), '''624<a>625  <foo function="1.0"/>626</a>''')627    def test_consider_non_elements_if(self):628        self.assert_matches(self.quick_xacro('''629<a xmlns:xacro="http://www.ros.org/wiki/xacro">630  <xacro:if value="1"><!-- comment --> text <b>bar</b></xacro:if>631</a>'''), '''632<a><!-- comment --> text <b>bar</b></a>''')633    def test_consider_non_elements_block(self):634        self.assert_matches(635            self.quick_xacro('''<a xmlns:xacro="http://www.ros.org/wiki/xacro">636<xacro:macro name="foo" params="*block">637  <!-- comment -->638  foo639  <xacro:insert_block name="block" />640</xacro:macro>641<xacro:foo>642  <!-- ignored comment -->643  ignored text644  <a_block />645</xacro:foo>646</a>'''), '''647<a>648  <!-- comment -->649  foo650  <a_block />651</a>''')652    def test_ignore_xacro_comments(self):653        self.assert_matches(self.quick_xacro('''654<a xmlns:xacro="http://www.ros.org/wiki/xacro">655  <!-- A -->656  <!-- ignore multiline comments before any xacro tag -->657  <!-- ignored -->658  <xacro:property name="foo" value="1"/>659  <!-- ignored -->660  <xacro:if value="1"><!-- B --></xacro:if>661  <!-- ignored -->662  <xacro:macro name="foo"><!-- C --></xacro:macro>663  <!-- ignored -->664  <xacro:foo/>665</a>'''), '''666<a><!-- A --><!-- B --><!-- C --></a>''')667    def test_recursive_evaluation(self):668        self.assert_matches(self.quick_xacro('''669<robot xmlns:xacro="http://www.ros.org/wiki/xacro">670  <xacro:property name="a" value=" 42 "/>671  <xacro:property name="a2" value="${ 2 * a }"/>672  <a doubled="${a2}"/>673</robot>'''), '''674<robot>675  <a doubled="84"/>676</robot>''')677    def test_recursive_evaluation_wrong_order(self):678        self.assert_matches(self.quick_xacro('''679<robot xmlns:xacro="http://www.ros.org/wiki/xacro">680  <xacro:property name="a2" value="${2*a}"/>681  <xacro:property name="a" value="42"/>682  <a doubled="${a2}"/>683</robot>'''), '''684<robot>685  <a doubled="84"/>686</robot>''')687    def test_recursive_definition(self):688        self.assertRaises(xacro.XacroException,689                          self.quick_xacro, '''690<robot xmlns:xacro="http://www.ros.org/wiki/xacro">691  <xacro:property name="a" value="${a2}"/>692  <xacro:property name="a2" value="${2*a}"/>693  <a doubled="${a2}"/>694</robot>''')695    def test_multiple_recursive_evaluation(self):696        self.assert_matches(self.quick_xacro('''697<robot xmlns:xacro="http://www.ros.org/wiki/xacro">698  <xacro:property name="a" value="1"/>699  <xacro:property name="b" value="2"/>700  <xacro:property name="c" value="3"/>701  <xacro:property name="product" value="${a*b*c}"/>702  <answer product="${product}"/>703</robot>'''), '''704<robot>705  <answer product="6"/>706</robot>''')707    def test_multiple_definition_and_evaluation(self):708        self.assert_matches(self.quick_xacro('''709<robot xmlns:xacro="http://www.ros.org/wiki/xacro">710  <xacro:property name="a" value="42"/>711  <xacro:property name="b" value="${a}"/>712  <xacro:property name="b" value="${-a}"/>713  <xacro:property name="b" value="${a}"/>714  <answer b="${b} ${b} ${b}"/>715</robot>'''), '''716<robot>717  <answer b="42 42 42"/>718</robot>''')719    def test_transitive_evaluation(self):720        self.assert_matches(self.quick_xacro('''721<robot xmlns:xacro="http://www.ros.org/wiki/xacro">722  <xacro:property name="a" value="42"/>723  <xacro:property name="b" value="${a}"/>724  <xacro:property name="c" value="${b}"/>725  <xacro:property name="d" value="${c}"/>726  <answer d="${d}"/>727</robot>'''), '''728<robot>729  <answer d="42"/>730</robot>''')731    def test_multi_tree_evaluation(self):732        self.assert_matches(self.quick_xacro('''733<robot xmlns:xacro="http://www.ros.org/wiki/xacro">734  <xacro:property name="a" value="42"/>735  <xacro:property name="b" value="2.1"/>736  <xacro:property name="c" value="${a}"/>737  <xacro:property name="d" value="${b}"/>738  <xacro:property name="f" value="${c*d}"/>739  <answer f="${f}"/>740</robot>'''), '''741<robot>742  <answer f="88.2"/>743</robot>''')744    def test_from_issue(self):745        self.assert_matches(self.quick_xacro('''746<robot xmlns:xacro="http://www.ros.org/wiki/xacro">747  <xacro:property name="x" value="42"/>748  <xacro:property name="wheel_width" value="${x}"/>749  <link name="my_link">750    <origin xyz="0 0 ${wheel_width/2}"/>751  </link>752</robot>'''), '''753<robot>754  <link name="my_link">755    <origin xyz="0 0 21.0"/>756  </link>757</robot>''')758    def test_recursive_bad_math(self):759        self.assertRaises(xacro.XacroException, self.quick_xacro, '''760<robot xmlns:xacro="http://www.ros.org/wiki/xacro">761  <xacro:property name="x" value="0"/>762  <tag badness="${1/x}"/>763</robot>''')764    def test_default_param(self):765        self.assert_matches(self.quick_xacro('''766<robot xmlns:xacro="http://www.ros.org/wiki/xacro">767  <xacro:macro name="fixed_link" params="parent_link:=base_link child_link *joint_pose">768    <link name="${child_link}"/>769    <joint name="${child_link}_joint" type="fixed">770      <xacro:insert_block name="joint_pose" />771      <parent link="${parent_link}"/>772      <child link="${child_link}" />773    </joint>774  </xacro:macro>775  <xacro:fixed_link child_link="foo">776    <origin xyz="0 0 0" rpy="0 0 0" />777  </xacro:fixed_link >778</robot>'''), '''779<robot>780  <link name="foo"/>781  <joint name="foo_joint" type="fixed">782    <origin rpy="0 0 0" xyz="0 0 0"/>783    <parent link="base_link"/>784    <child link="foo"/>785  </joint>786</robot>''')787    def test_default_param_override(self):788        self.assert_matches(self.quick_xacro('''789<robot xmlns:xacro="http://www.ros.org/wiki/xacro">790  <xacro:macro name="fixed_link" params="parent_link:=base_link child_link *joint_pose">791    <link name="${child_link}"/>792    <joint name="${child_link}_joint" type="fixed">793      <xacro:insert_block name="joint_pose" />794      <parent link="${parent_link}"/>795      <child link="${child_link}" />796    </joint>797  </xacro:macro>798  <xacro:fixed_link child_link="foo" parent_link="bar">799    <origin xyz="0 0 0" rpy="0 0 0" />800  </xacro:fixed_link >801</robot>'''), '''802<robot>803  <link name="foo"/>804  <joint name="foo_joint" type="fixed">805    <origin rpy="0 0 0" xyz="0 0 0"/>806    <parent link="bar"/>807    <child link="foo"/>808  </joint>809</robot>''')810    def test_param_missing(self):811        self.assertRaises(xacro.XacroException, self.quick_xacro, '''812<robot xmlns:xacro="http://www.ros.org/wiki/xacro">813  <xacro:macro name="fixed_link" params="parent_link child_link *joint_pose">814    <link name="${child_link}"/>815    <joint name="${child_link}_joint" type="fixed">816      <xacro:insert_block name="joint_pose" />817      <parent link="${parent_link}"/>818      <child link="${child_link}" />819    </joint>820  </xacro:macro>821  <xacro:fixed_link child_link="foo">822    <origin xyz="0 0 0" rpy="0 0 0" />823  </xacro:fixed_link >824</robot>''')825    def test_default_arg(self):826        self.assert_matches(self.quick_xacro('''827<robot xmlns:xacro="http://www.ros.org/wiki/xacro">828  <xacro:arg name="foo" default="2"/>829  <link name="my_link">830    <origin xyz="0 0 $(arg foo)"/>831  </link>832</robot>833'''), '''834<robot>835  <link name="my_link">836    <origin xyz="0 0 2"/>837  </link>838</robot>''')839    def test_default_arg_override(self):840        self.assert_matches(self.quick_xacro('''841<robot xmlns:xacro="http://www.ros.org/wiki/xacro">842  <xacro:arg name="foo" default="2"/>843  <link name="my_link">844    <origin xyz="0 0 $(arg foo)"/>845  </link>846</robot>847''', ['foo:=4']), '''848<robot>849  <link name="my_link">850    <origin xyz="0 0 4"/>851  </link>852</robot>''')853    def test_default_arg_missing(self):854        self.assertRaises(Exception, self.quick_xacro, '''855<a xmlns:xacro="http://www.ros.org/wiki/xacro">856  <a arg="$(arg foo)"/>857</a>858''')859    def test_default_arg_empty(self):860        self.assert_matches(self.quick_xacro('''861<a xmlns:xacro="http://www.ros.org/wiki/xacro">862<xacro:arg name="foo" default=""/>$(arg foo)</a>'''), '''<a/>''')863    def test_broken_include_error_reporting(self):864        self.assertRaises(xml.parsers.expat.ExpatError, self.quick_xacro,865        '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">866           <xacro:include filename="broken.xacro"/></a>''')867        self.assertEqual(xacro.filestack, [None, './broken.xacro'])868    def test_broken_input_doesnt_create_empty_output_file(self):869        # run xacro on broken input file to make sure we don't create an870        # empty output file871        tmp_dir_name = tempfile.mkdtemp()  # create directory we can trash872        output_path = os.path.join(tmp_dir_name, "should_not_exist")873        self.run_xacro('broken.xacro', '-o', output_path)874        output_file_created = os.path.isfile(output_path)875        shutil.rmtree(tmp_dir_name)  # clean up after ourselves876        self.assertFalse(output_file_created)877    def test_create_subdirs(self):878        # run xacro to create output file in non-existent directory879        # to make sure this directory will be created by xacro880        tmp_dir_name = tempfile.mkdtemp()  # create directory we can trash881        shutil.rmtree(tmp_dir_name)  # ensure directory is removed882        output_path = os.path.join(tmp_dir_name, "out")883        self.run_xacro('include1.xml', '-o', output_path)884        output_file_created = os.path.isfile(output_path)885        shutil.rmtree(tmp_dir_name)  # clean up after ourselves886        self.assertTrue(output_file_created)887    def test_iterable_literals_plain(self):888        self.assert_matches(self.quick_xacro('''889<a xmlns:xacro="http://www.ros.org/wiki/xacro">890  <xacro:property name="list" value="[0, 1+1, 2]"/>891  <xacro:property name="tuple" value="(0,1+1,2)"/>892  <xacro:property name="dict" value="{'a':0, 'b':1+1, 'c':2}"/>893  <a list="${list}" tuple="${tuple}" dict="${dict}"/>894</a>'''), '''895<a>896  <a list="[0, 1+1, 2]" tuple="(0,1+1,2)" dict="{'a':0, 'b':1+1, 'c':2}"/>897</a>''')898    def test_iterable_literals_eval(self):899        self.assert_matches(self.quick_xacro('''900<a xmlns:xacro="http://www.ros.org/wiki/xacro">901  <xacro:property name="list" value="${[0, 1+1, 2]}"/>902  <xacro:property name="tuple" value="${(0,1+1,2)}"/>903  <xacro:property name="dic" value="${dict(a=0, b=1+1, c=2)}"/>904  <a list="${list}" tuple="${tuple}" dict="${dic}"/>905</a>'''), '''906<a>907  <a list="[0, 2, 2]" tuple="(0, 2, 2)" dict="{'a': 0, 'c': 2, 'b': 2}"/>908</a>''')909    def test_literals_eval(self):910        self.assert_matches(self.quick_xacro('''911<a xmlns:xacro="http://www.ros.org/wiki/xacro">912  <xacro:property name="f" value="1.23"/>913  <xacro:property name="i" value="123"/>914  <xacro:property name="s" value="1_2_3"/>915  float=${f+1} int=${i+1} string=${s}916</a>'''), '''917<a>918  float=2.23 int=124 string=1_2_3919</a>''')920    def test_enforce_xacro_ns(self):921        self.assert_matches(self.quick_xacro('''922<a xmlns:xacro="http://www.ros.org/wiki/xacro">923  <arg name="foo" value="bar"/>924  <include filename="foo"/>925</a>''', xacro_ns=False), '''926<a>927  <arg name="foo" value="bar"/>928  <include filename="foo"/>929</a>''')930    def test_issue_68_numeric_arg(self):931        # If a property is assigned from a substitution arg, then this properties' value was932        # no longer converted to a python type, so that e.g. 0.5 remained u'0.5'.933        # If this property is then used in a numerical expression an exception is thrown.934        self.assert_matches(self.quick_xacro('''935<a xmlns:xacro="http://www.ros.org/wiki/xacro">936  <xacro:arg name="foo" default="0.5"/>937  <xacro:property name="prop" value="$(arg foo)" />938  <a prop="${prop-0.3}"/>939</a>940'''), '''941<a>942  <a prop="0.2"/>943</a>''')944    def test_transitive_arg_evaluation(self):945        self.assert_matches(self.quick_xacro('''946<a xmlns:xacro="http://www.ros.org/wiki/xacro">947  <xacro:arg name="foo" default="0.5"/>948  <xacro:arg name="bar" default="$(arg foo)"/>949  <xacro:property name="prop" value="$(arg bar)" />950  <a prop="${prop-0.3}"/>951</a>952'''), '''953<a>954  <a prop="0.2"/>955</a>''')956    def test_macro_name_with_colon(self):957        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">958        <xacro:macro name="xacro:my_macro"><foo/></xacro:macro>959        <xacro:my_macro/>960        </a>'''961        res = '''<a><foo/></a>'''962        with capture_stderr(self.quick_xacro, src) as (result, output):963            self.assert_matches(result, res)964            self.assertTrue("macro names must not contain prefix 'xacro:'" in output)965    def test_overwrite_globals(self):966        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">967        <xacro:property name="pi"  value="3.14"/></a>'''968        with capture_stderr(self.quick_xacro, src) as (result, output):969            self.assert_matches(result, '<a/>')970            self.assertTrue(output)971    def test_no_double_evaluation(self):972        src = '''973<a xmlns:xacro="http://www.ros.org/xacro">974  <xacro:macro name="foo" params="a b:=${a} c:=$${a}"> a=${a} b=${b} c=${c} </xacro:macro>975  <xacro:property name="a" value="1"/>976  <xacro:property name="d" value="$${a}"/>977  <d d="${d}"><xacro:foo a="2"/></d>978</a>'''979        res = '''<a><d d="${a}"> a=2 b=1 c=${a} </d></a>'''980        self.assert_matches(self.quick_xacro(src), res)981    def test_property_forwarding(self):982        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">983        <xacro:property name="arg" value="42"/>984        <xacro:macro name="foo" params="arg:=^%s">${arg}</xacro:macro>985        <xacro:foo/>986        </a>'''987        res = '''<a>%s</a>'''988        self.assert_matches(self.quick_xacro(src % ''), res % '42')989        self.assert_matches(self.quick_xacro(src % '|'), res % '42')990        self.assert_matches(self.quick_xacro(src % '|6'), res % '42')991    def test_extension_in_expression(self):992        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">${2*'$(arg var)'}</a>'''993        res = '''<a>%s</a>'''994        self.assert_matches(self.quick_xacro(src, ['var:=xacro']), res % (2 * 'xacro'))995    def test_expression_in_extension(self):996        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">$(arg ${'v'+'ar'})</a>'''997        res = '''<a>%s</a>'''998        self.assert_matches(self.quick_xacro(src, ['var:=xacro']), res % 'xacro')999    def test_target_namespace(self):1000        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:targetNamespace="http://www.ros.org"/>'''1001        res = '''<a xmlns="http://www.ros.org"/>'''1002        self.assert_matches(self.quick_xacro(src), res)1003    def test_target_namespace_only_from_root(self):1004        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro"><b xacro:targetNamespace="http://www.ros.org"/></a>'''1005        res = '''<a><b/></a>'''1006        self.assert_matches(self.quick_xacro(src), res)1007    def test_include_lazy(self):1008        doc = ('''<a xmlns:xacro="http://www.ros.org/xacro">1009        <xacro:if value="false"><xacro:include filename="non-existent"/></xacro:if></a>''')1010        self.assert_matches(self.quick_xacro(doc), '''<a/>''')1011    def test_issue_63_fixed_with_inorder_processing(self):1012        self.assert_matches(self.quick_xacro('''1013<a xmlns:xacro="http://www.ros.org/wiki/xacro">1014  <xacro:arg name="has_stuff" default="false"/>1015  <xacro:if value="$(arg has_stuff)">1016    <xacro:include file="$(find nonexistent_package)/stuff.urdf" />1017  </xacro:if>1018</a>'''), '<a/>')1019    def test_include_from_macro(self):1020        src = '''1021    <a xmlns:xacro="http://www.ros.org/xacro">1022      <xacro:macro name="foo" params="file:=include1.xml"><xacro:include filename="${file}"/></xacro:macro>1023      <xacro:foo/>1024      <xacro:foo file="${abs_filename('include1.xml')}"/>1025      <xacro:include filename="subdir/foo.xacro"/>1026      <xacro:foo file="$(cwd)/subdir/include1.xml"/>1027    </a>'''1028        res = '''<a><inc1/><inc1/><subdir_inc1/><subdir_inc1/></a>'''1029        self.assert_matches(self.quick_xacro(src), res)1030    def test_dotify(self):1031      src = '''1032    <a xmlns:xacro="http://www.ros.org/xacro">1033      <xacro:property name="settings" value="${dotify(dict(a=1, b=2))}"/>1034      ${settings.a + settings.b}1035    </a>'''1036      res = '''<a>3</a>'''1037      self.assert_matches(self.quick_xacro(src), res)1038    def test_yaml_support(self):1039        src = '''1040<a xmlns:xacro="http://www.ros.org/wiki/xacro">1041  <xacro:property name="settings" value="${load_yaml('settings.yaml')}"/>1042  <xacro:property name="type" value="$(arg type)"/>1043  <xacro:include filename="${settings['arms'][type]['file']}"/>1044  <xacro:call macro="${settings['arms'][type]['macro']}"/>1045</a>'''1046        res = '''<a><{tag}/></a>'''1047        for i in ['inc1', 'inc2']:1048            self.assert_matches(self.quick_xacro(src, cli=['type:=%s' % i]),1049                                res.format(tag=i))1050    def test_yaml_support_dotted(self):1051        src = '''1052<a xmlns:xacro="http://www.ros.org/wiki/xacro">1053  <xacro:property name="settings" value="${load_yaml('settings.yaml')}"/>1054  <xacro:property name="type" value="$(arg type)"/>1055  <xacro:include filename="${settings.arms[type].file}"/>1056  <xacro:call macro="${settings.arms[type].macro}"/>1057</a>'''1058        res = '''<a><{tag}/></a>'''1059        for i in ['inc1', 'inc2']:1060            self.assert_matches(self.quick_xacro(src, cli=['type:=%s' % i]),1061                                res.format(tag=i))1062    def test_yaml_support_dotted_key_error(self):1063        src = '''1064<a xmlns:xacro="http://www.ros.org/wiki/xacro">1065  <xacro:property name="settings" value="${load_yaml('settings.yaml')}"/>1066  <xacro:property name="bar" value="${settings.baz}"/>1067  ${bar}1068</a>'''1069        self.assertRaises(xacro.XacroException, self.quick_xacro, src)1070    def test_yaml_support_dotted_arith(self):1071        src = '''1072<a xmlns:xacro="http://www.ros.org/wiki/xacro">1073  <xacro:property name="settings" value="${load_yaml('settings.yaml')}"/>1074  <xacro:property name="bar" value="${settings.arms.inc2.props.port + 1}"/>1075  ${bar}1076</a>'''1077        res = '''<a>4243</a>'''1078        self.assert_matches(self.quick_xacro(src), res)1079    def test_yaml_support_key_in_dict(self):1080        src = '''1081<a xmlns:xacro="http://www.ros.org/wiki/xacro">1082  <xacro:property name="settings" value="${load_yaml('settings.yaml')}"/>1083  ${'arms' in settings} ${'baz' in settings}1084</a>'''1085        res = '''<a>True False</a>'''1086        self.assert_matches(self.quick_xacro(src), res)1087    def test_yaml_support_list_of_x(self):1088        src = '''1089    <a xmlns:xacro="http://www.ros.org/wiki/xacro">1090      <xacro:property name="list" value="${load_yaml('list.yaml')}"/>1091      ${list[0][1]} ${list[1][0]} ${list[2].a.A} ${list[2].a.B[0]} ${list[2].a.B[1]} ${list[2].b[0]}1092    </a>'''1093        res = '''<a>A2 B1 1 2 3 4</a>'''1094        self.assert_matches(self.quick_xacro(src), res)1095    def test_yaml_custom_constructors(self):1096        src = '''1097<a xmlns:xacro="http://www.ros.org/wiki/xacro">1098  <xacro:property name="values" value="${load_yaml('constructors.yaml')}"/>1099  <values a="${values.a}" b="${values.b}" c="${values.c}"/>1100</a>'''1101        res = '''<a><values a="{}" b="{}" c="42"/></a>'''.format(math.pi, 0.5*math.pi)1102        self.assert_matches(self.quick_xacro(src), res)1103    def test_yaml_custom_constructors_illegal_expr(self):1104        for file in ['constructors_bad1.yaml', 'constructors_bad2.yaml']:1105          src = '''1106<a xmlns:xacro="http://www.ros.org/wiki/xacro">1107  <xacro:property name="values" value="${{load_yaml({file})}}"/>1108  <values a="${{values.a}}" />1109</a>'''1110        self.assertRaises(xacro.XacroException, self.quick_xacro, src.format(file=file))1111    def test_xacro_exist_required(self):1112        src = '''1113<a xmlns:xacro="http://www.ros.org/wiki/xacro">1114  <xacro:include filename="non-existent.xacro"/>1115</a>'''1116        self.assertRaises(xacro.XacroException, self.quick_xacro, src)1117    def test_xacro_exist_optional(self):1118        src = '''1119<a xmlns:xacro="http://www.ros.org/wiki/xacro">1120  <xacro:include filename="non-existent.xacro" optional="True"/>1121</a>'''1122        res = '''<a></a>'''1123        self.assert_matches(self.quick_xacro(src), res)1124    def test_macro_default_param_evaluation_order(self):1125        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1126<xacro:macro name="foo" params="arg:=${2*foo}">1127    <xacro:property name="foo" value="-"/>1128    <f val="${arg}"/>1129</xacro:macro>1130<xacro:property name="foo" value="${3*7}"/>1131<xacro:foo/>1132<xacro:property name="foo" value="*"/>1133<xacro:foo/>1134</a>'''1135        res = '''<a>1136<f val="42"/><f val="**"/></a>'''1137        self.assert_matches(self.quick_xacro(src), res)1138    def test_default_property(self):1139        src = '''1140        <a xmlns:xacro="http://www.ros.org/xacro">1141            <xacro:property name="prop" default="false"/>1142            <xacro:unless value="${prop}">1143                <foo/>1144                <xacro:property name="prop" value="true"/>1145            </xacro:unless>1146            <!-- second foo should be ignored -->1147            <xacro:unless value="${prop}">1148                <foo/>1149                <xacro:property name="prop" value="true"/>1150            </xacro:unless>1151        </a>'''1152        res = '''<a><foo/></a>'''1153        self.assert_matches(self.quick_xacro(src), res)1154    def test_unicode_literal_parsing(self):1155        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">ð </a>'''1156        self.assert_matches(self.quick_xacro(src), '''<a>ð </a>''')1157    def test_unicode_property(self):1158        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1159<xacro:property name="burger" value="ð"/>1160${burger}</a>'''1161        res = '''<a>ð</a>'''1162        self.assert_matches(self.quick_xacro(src), res)1163    def test_unicode_property_attribute(self):1164        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1165<xacro:property name="burger" value="ð"/>1166<b c="${burger}"/></a>'''1167        res = '''<a><b c="ð"/></a>'''1168        self.assert_matches(self.quick_xacro(src), res)1169    def test_unicode_property_block(self):1170        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1171<xacro:property name="burger">1172ð1173</xacro:property>1174<xacro:insert_block name="burger"/></a>'''1175        res = '''<a>ð</a>'''1176        self.assert_matches(self.quick_xacro(src), res)1177    def test_unicode_conditional(self):1178        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1179<xacro:property name="burger" value="ð"/>1180<xacro:if value="${burger == u'ð'}">1181ð1182</xacro:if>1183</a>'''1184        res = '''<a>ð</a>'''1185        self.assert_matches(self.quick_xacro(src), res)1186    def test_unicode_macro(self):1187        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1188<xacro:macro name="burger" params="how_many">1189${u'ð' * how_many}1190</xacro:macro>1191<xacro:burger how_many="4"/>1192</a>'''1193        res = '''<a>ðððð</a>'''1194        self.assert_matches(self.quick_xacro(src), res)1195    def test_unicode_file(self):1196        # run the full xacro processing pipeline on a file with1197        # unicode characters in it and make sure the output is correct1198        test_dir = os.path.abspath(os.path.dirname(__file__))1199        input_path = os.path.join(test_dir, 'emoji.xacro')1200        tmp_dir_name = tempfile.mkdtemp()  # create directory we can trash1201        output_path = os.path.join(tmp_dir_name, "out.xml")1202        self.run_xacro(input_path, '-o', output_path)1203        self.assertTrue(os.path.isfile(output_path))1204        self.assert_matches(xml.dom.minidom.parse(output_path), '''<robot>ð</robot>''')1205        shutil.rmtree(tmp_dir_name)  # clean up after ourselves1206    def test_macro_name_clash(self):1207        src = '''<a xmlns:xacro="http://www.ros.org/wiki/xacro">1208<xacro:macro name="foo"><bar/></xacro:macro>1209<foo/></a>1210'''1211        self.assert_matches(self.quick_xacro(src, ['--xacro-ns']), '<a><foo/></a>')1212        self.assert_matches(self.quick_xacro(src), '<a><bar/></a>')1213    def test_process_return_value(self):1214        test_dir = os.path.abspath(os.path.dirname(__file__))1215        input_path = os.path.join(test_dir, 'emoji.xacro')1216        self.assert_matches(xacro.process(input_path), '<robot>ð</robot>')1217    def test_invalid_syntax(self):1218        self.assertRaises(xacro.XacroException, self.quick_xacro, '<a>a${</a>')1219        self.assertRaises(xacro.XacroException, self.quick_xacro, '<a>${b</a>')1220        self.assertRaises(xacro.XacroException, self.quick_xacro, '<a>${{}}</a>')1221        self.assertRaises(xacro.XacroException, self.quick_xacro, '<a>a$(</a>')1222        self.assertRaises(xacro.XacroException, self.quick_xacro, '<a>$(b</a>')1223if __name__ == '__main__':...
Automation Testing Tutorials

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