Add async support for subscribing messages

launch_testing_ros/launch_testing_ros/repeater.py

@@ -0,0 +1,59 @@
+# 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 rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class Repeater(Node):
+
+    def __init__(self):
+        super().__init__('repeater')
+        self.count = 0
+        self.subscription = self.create_subscription(
+            String, 'input', self.callback, 10
+        )
+        self.publisher = self.create_publisher(String, 'output', 10)
+
+    def callback(self, input_msg):
+        self.get_logger().info('I heard: [%s]' % input_msg.data)
+        if input_msg.data == "Hello":
+            reply = input_msg.data + " World"
+            self.publish_data(reply)
+        elif input_msg.data == "Knock Knock":
+            reply = "Who's there?"
+            self.publish_data(reply)
+
+    def publish_data(self, output_msg_data):
+        self.get_logger().info('Publishing: "{0}"'.format(output_msg_data))
+        self.publisher.publish(String(data=output_msg_data))
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = Repeater()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

launch_testing_ros/launch_testing_ros/wait_for_topics.py

@@ -12,8 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import defaultdict
 import random
 import string
+from threading import Condition
 from threading import Event
 from threading import Thread
 
@@ -26,7 +28,7 @@ class WaitForTopics:
     """
     Wait to receive messages on supplied topics.
 
-    Example usage:
+    Example usage for periodic topics:
     --------------
 
     from std_msgs.msg import String
@@ -47,9 +49,15 @@ def method_2():
         print(wait_for_topics.topics_not_received()) # Should be an empty set
         print(wait_for_topics.topics_received()) # Should be {'topic_1', 'topic_2'}
         wait_for_topics.shutdown()
+
+
+    Example usage for async topics:
+    --------------
+
+    See test/examples/translator_test.py
     """
 
-    def __init__(self, topic_tuples, timeout=5.0):
+    def __init__(self, topic_tuples, timeout=5.0, *, start_subscribers=False):
         self.topic_tuples = topic_tuples
         self.timeout = timeout
         self.__ros_context = rclpy.Context()
@@ -63,18 +71,25 @@ def __init__(self, topic_tuples, timeout=5.0):
         self.__ros_spin_thread = Thread(target=self._spin_function)
         self.__ros_spin_thread.start()
 
+        if start_subscribers:
+            self._start_subscribers()
+
     def _prepare_ros_node(self):
         node_name = '_test_node_' +\
             ''.join(random.choices(string.ascii_uppercase + string.digits, k=10))
         self.__ros_node = _WaitForTopicsNode(name=node_name, node_context=self.__ros_context)
         self.__ros_executor.add_node(self.__ros_node)
 
+    def _start_subscribers(self):
+        self.__ros_node.start_subscribers(self.topic_tuples)
+
     def _spin_function(self):
         while self.__running:
             self.__ros_executor.spin_once(1.0)
 
-    def wait(self):
-        self.__ros_node.start_subscribers(self.topic_tuples)
+    def wait(self, *,  start_subscribers=True):
+        if start_subscribers:
+            self._start_subscribers()
         return self.__ros_node.msg_event_object.wait(self.timeout)
 
     def shutdown(self):
@@ -87,6 +102,10 @@ def topics_received(self):
         """Topics that received at least one message."""
         return self.__ros_node.received_topics
 
+    def messages_received(self):
+        """List of messages that receive, keyed by topic."""
+        return self.__ros_node.received_messages
+
     def topics_not_received(self):
         """Topics that did not receive any messages."""
         return self.__ros_node.expected_topics - self.__ros_node.received_topics
@@ -114,6 +133,7 @@ def start_subscribers(self, topic_tuples):
         self.subscriber_list = []
         self.expected_topics = {name for name, _ in topic_tuples}
         self.received_topics = set()
+        self.received_messages = defaultdict(list)
 
         for topic_name, topic_type in topic_tuples:
             # Create a subscriber
@@ -128,7 +148,8 @@ def start_subscribers(self, topic_tuples):
 
     def callback_template(self, topic_name):
 
-        def topic_callback(data):
+        def topic_callback(msg):
+            self.received_messages[topic_name].append(msg)
             if topic_name not in self.received_topics:
                 self.get_logger().debug('Message received for ' + topic_name)
                 self.received_topics.add(topic_name)

launch_testing_ros/setup.py

@@ -15,6 +15,9 @@
     ],
     entry_points={
         'pytest11': ['launch_ros = launch_testing_ros_pytest_entrypoint'],
+        'console_scripts': [
+            'repeater = launch_testing_ros.repeater:main'
+        ]
     },
     install_requires=['setuptools'],
     zip_safe=True,

launch_testing_ros/test/examples/repeater_test.py

@@ -0,0 +1,110 @@
+# Copyright 2023 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 os
+import sys
+import unittest
+
+import launch
+import launch_ros
+import launch_testing.actions
+from launch_testing_ros.wait_for_topics import WaitForTopics
+from launch_testing_ros import repeater
+
+import pytest
+
+import rclpy
+
+from std_msgs.msg import String
+
+
+@pytest.mark.rostest
+def generate_test_description():
+
+    # path_to_test = os.path.dirname(__file__)
+    repeater_node = launch_ros.actions.Node(
+        package="launch_testing_ros",
+        executable="repeater",
+        # arguments=[os.path.join(path_to_test, 'repeater.py')],
+        additional_env={'PYTHONUNBUFFERED': '1'}
+    )
+
+    return (
+        launch.LaunchDescription([
+            repeater_node,
+            # Start tests right away - no need to wait for anything
+            launch_testing.actions.ReadyToTest(),
+        ]),
+        {
+            'repeater': repeater_node
+        }
+    )
+
+
+class Testrepeater(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        # Initialize the ROS context for the test node
+        rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        # Shutdown the ROS context
+        rclpy.shutdown()
+
+    def setUp(self):
+        # Create a ROS node for tests
+        self.node = rclpy.create_node('test_repeater')
+        self.publisher = self.node.create_publisher(String, "input", qos_profile=10)
+        self.topic_list = [('output', String)]
+        self.wait_for_topics = WaitForTopics(self.topic_list, timeout=10.0, start_subscribers=True)
+
+    def tearDown(self):
+        self.node.destroy_node()
+
+    def test_repeater_translates_hello(self, launch_service, repeater, proc_output):
+        # Expect the repeater to reply with "Hello World"
+        msg = String()
+        msg.data = "Hello"
+        self.assertTrue(self.wait_for_topics.wait(start_subscribers=False))
+        self.publisher.publish(msg)
+
+        received_output = self.wait_for_topics.messages_received()['output']
+        self.assertEqual(len(received_output), 1)
+        self.assertEqual(received_output[0].data, "Hello World")
+
+    def test_repeater_translates_knock(self, launch_service, repeater, proc_output):
+        # Expect the repeater to reply with "Who's There?"
+        msg = String()
+        msg.data = "Knock Knock"
+
+        self.assertTrue(self.wait_for_topics.wait(start_subscribers=False))
+        self.publisher.publish(msg)
+
+        received_output = self.wait_for_topics.messages_received()['output']
+        self.assertEqual(len(received_output), 1)
+        self.assertEqual(received_output[0].data, "Who's there")
+
+    def test_repeater_ignores_foobar(self, launch_service, repeater, proc_output):
+        # Expect the repeater to not reply"
+        msg = String()
+        msg.data = "FooBar"
+
+        self.assertFalse(self.wait_for_topics.wait(start_subscribers=False))
+        self.publisher.publish(msg)
+
+        self.assertFalse('output' in self.wait_for_topics.messages_received())
+        self.assertEqual(self.wait_for_topics.topics_not_received(), self.topic_list)