Best Python code snippet using lisa_python
test_node.py
Source: test_node.py
...30 ld = LaunchDescription(actions)31 ls = LaunchService()32 ls.include_launch_description(ld)33 assert 0 == ls.run()34 def _create_node(self, *, parameters=None, remappings=None):35 return launch_ros.actions.Node(36 package='demo_nodes_py', node_executable='talker_qos', output='screen',37 # The node name is required for parameter dicts.38 # See https://github.com/ros2/launch/issues/139.39 node_name='my_node', node_namespace='my_ns',40 arguments=['--number_of_cycles', '1'],41 parameters=parameters,42 remappings=remappings,43 )44 def _assert_type_error_creating_node(self, *, parameters=None, remappings=None):45 with self.assertRaises(TypeError):46 self._create_node(parameters=parameters, remappings=remappings)47 def test_launch_invalid_node(self):48 """Test launching an invalid node."""49 node_action = launch_ros.actions.Node(50 package='nonexistent_package', node_executable='node', output='screen')51 self._assert_launch_errors([node_action])52 def test_launch_node(self):53 """Test launching a node."""54 self._assert_launch_no_errors([self._create_node()])55 def test_launch_node_with_remappings(self):56 """Test launching a node with remappings."""57 # Pass remapping rules to node in a variety of forms.58 # It is redundant to pass the same rule, but the goal is to test different parameter types.59 os.environ['TOPIC_NAME'] = 'chatter'60 topic_prefix = 'new_'61 node_action = self._create_node(62 remappings=[63 ('chatter', 'new_chatter'),64 (EnvironmentVariable(name='TOPIC_NAME'), [65 topic_prefix, EnvironmentVariable(name='TOPIC_NAME')])66 ],67 )68 self._assert_launch_no_errors([node_action])69 # Check the expanded parameters.70 expanded_remappings = node_action._Node__expanded_remappings71 assert len(expanded_remappings) == 272 for i in range(2):73 assert expanded_remappings[i] == ('chatter', 'new_chatter')74 def test_create_node_with_invalid_remappings(self):75 """Test creating a node with invalid remappings."""76 self._assert_type_error_creating_node(77 remappings={'chatter': 'new_chatter'}, # Not a list.78 )79 self._assert_type_error_creating_node(80 remappings=[{'chatter': 'new_chatter'}], # List with elements not tuple.81 )82 def test_launch_node_with_parameter_files(self):83 """Test launching a node with parameters specified in yaml files."""84 parameters_file_dir = pathlib.Path(__file__).resolve().parent85 parameters_file_path = parameters_file_dir / 'example_parameters.yaml'86 # Pass parameter files to node in a variety of forms.87 # It is redundant to pass the same file, but the goal is to test different parameter types.88 os.environ['FILE_PATH'] = str(parameters_file_dir)89 node_action = self._create_node(90 parameters=[91 parameters_file_path,92 str(parameters_file_path),93 [EnvironmentVariable(name='FILE_PATH'), os.sep, 'example_parameters.yaml'],94 ],95 )96 self._assert_launch_no_errors([node_action])97 # Check the expanded parameters.98 expanded_parameter_files = node_action._Node__expanded_parameter_files99 assert len(expanded_parameter_files) == 3100 for i in range(3):101 assert expanded_parameter_files[i] == str(parameters_file_path)102 def test_launch_node_with_parameter_dict(self):103 """Test launching a node with parameters specified in a dictionary."""104 os.environ['PARAM1_VALUE'] = 'param1_value'105 os.environ['PARAM2'] = 'param2'106 node_action = self._create_node(107 parameters=[{108 'param1': EnvironmentVariable(name='PARAM1_VALUE'),109 EnvironmentVariable(name='PARAM2'): (EnvironmentVariable(name='PARAM2'), '_value'),110 'param_group1': {111 'list_params': [1.2, 3.4],112 'param_group2': {113 (EnvironmentVariable('PARAM2'), '_values'): ['param2_value'],114 }115 }116 }],117 )118 self._assert_launch_no_errors([node_action])119 # Check the expanded parameters (will be written to a file).120 expanded_parameter_files = node_action._Node__expanded_parameter_files121 assert len(expanded_parameter_files) == 1122 with open(expanded_parameter_files[0], 'r') as h:123 expanded_parameters_dict = yaml.load(h)124 assert expanded_parameters_dict == {125 '/my_ns': {126 'my_node': {127 'ros__parameters': {128 'param1': 'param1_value',129 'param2': 'param2_value',130 'param_group1': {131 'list_params': [1.2, 3.4],132 'param_group2': {133 'param2_values': ['param2_value'],134 }135 }136 }137 }138 }139 }140 def test_create_node_with_invalid_parameters(self):141 """Test launching a node with invalid parameters."""142 self._assert_type_error_creating_node(parameters=[5.0]) # Invalid list values.143 self._assert_type_error_creating_node(parameters={'a': 5}) # Valid dict, not in a list.144 parameter_file_path = pathlib.Path(__file__).resolve().parent / 'example_parameters.yaml'145 self._assert_type_error_creating_node(146 parameters=str(parameter_file_path)) # Valid path, but not in a list.147 # If a parameter dictionary is specified, the node name must be also.148 with self.assertRaisesRegex(RuntimeError, 'node name must also be specified'):149 launch_ros.actions.Node(150 package='demo_nodes_py', node_executable='talker_qos', output='screen',151 arguments=['--number_of_cycles', '1'],152 parameters=[{'my_param': 'value'}],153 )154 def test_launch_node_with_invalid_parameter_dicts(self):155 """Test launching a node with invalid parameter dicts."""156 # Substitutions aren't expanded until the node action is executed, at which time a type157 # error should be raised and cause the launch to fail.158 # For each type of invalid parameter, check that they are detected at both the top-level159 # and at a nested level in the dictionary.160 # Key must be a string/Substitution evaluating to a string.161 self._assert_launch_errors(actions=[162 self._create_node(parameters=[{5: 'asdf'}])163 ])164 self._assert_launch_errors(actions=[165 self._create_node(parameters=[{166 'param_group': {167 'param_subgroup': {168 5: 'asdf',169 },170 },171 }])172 ])173 # Nested lists are not supported.174 self._assert_launch_errors(actions=[175 self._create_node(parameters=[{'param': [1, 2, [3, 4]]}])176 ])177 self._assert_launch_errors(actions=[178 self._create_node(parameters=[{179 'param_group': {180 'param_subgroup': {181 'param': [1, 2, [3, 4]],182 },183 },184 }])185 ])186 # Tuples are only supported for Substitutions.187 self._assert_launch_errors(actions=[188 self._create_node(parameters=[{'param': (1, 2)}])189 ])190 self._assert_launch_errors(actions=[191 self._create_node(parameters=[{192 'param_group': {193 'param_subgroup': {194 'param': (1, 2),195 },196 },197 }])198 ])199 # Other types are not supported.200 self._assert_launch_errors(actions=[201 self._create_node(parameters=[{'param': {1, 2}}])202 ])203 self._assert_launch_errors(actions=[204 self._create_node(parameters=[{205 'param_group': {206 'param_subgroup': {207 'param': {1, 2},208 },209 },210 }])211 ])212 self._assert_launch_errors(actions=[213 self._create_node(parameters=[{'param': self}])214 ])215 self._assert_launch_errors(actions=[216 self._create_node(parameters=[{217 'param_group': {218 'param_subgroup': {219 'param': self,220 },221 },222 }])...
meta_dao_read_tests.py
Source: meta_dao_read_tests.py
...55 assert top_nodes != None56 assert len(top_nodes) == 357 print top_nodes58 """ Helpers """59 def _create_node(self, name, orig_id, parent_node=None):60 node = self._dao.create_node(name, orig_id)61 if parent_node:62 if isinstance(parent_node, list):63 for pn in parent_node:64 self._dao.create_rel_is(node, pn)65 print "%s(%s) --> %s(%s)" %(node.name, node._id, pn.name, pn._id)66 else:67 self._dao.create_rel_is(node, parent_node)68 print "%s(%s) --> %s(%s)" %(node.name, node._id, parent_node.name, parent_node._id)69 else:70 print "%s(%s)" %(node.name, node._id)71 72 return node 73 74 def _create_test_graph(self):75 a1 = self._create_node("a1", 101)76 a11 = self._create_node("a11", 1011, a1)77 a111 = self._create_node("a111", 10111, a11)78 a112 = self._create_node("a112", 10112, a11)79 a113 = self._create_node("a113", 10113, a11)80 a12 = self._create_node("a12", 1012, a1)81 a121 = self._create_node("a121", 10121, a12)82 a13 = self._create_node("a13", 1013, a1)83 b1 = self._create_node("b1", 201)84 b11 = self._create_node("b11", 2011, b1)85 b111 = self._create_node("b111", 20111, b11)86 b12 = self._create_node("b12", 2012, b1)87 88 c1 = self._create_node("c1", 301)89 c11 = self._create_node("c11", 3011, c1)90 c111 = self._create_node("c111", 30111, [c11, a13, b111])91 ...
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