Test namespacing

Adapts the two_lifecycle_nodes launch test to have one node in a separate namespace. #76 Signed-off-by: Nordmann Arne (CR/ADT3) <[email protected]>
micro-ROS · Apr 21, 2021 · 8b5a487 · 8b5a487
1 parent 753667c
commit 8b5a487
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Showing 8 changed files with 32 additions and 21 deletions.
diff --git a/system_modes/test/launchtest/manager_and_monitor.py b/system_modes/test/launchtest/manager_and_monitor.py
@@ -17,7 +17,7 @@ def __init__(self, name):
         super().__init__(name)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
         self.add_on_set_parameters_callback(self.parameter_callback)
 
         # State change service

diff --git a/system_modes/test/launchtest/modes_observer.py b/system_modes/test/launchtest/modes_observer.py
@@ -17,7 +17,7 @@ def __init__(self, name):
         super().__init__(name)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
 
         self.pubs = self.create_publisher(
             TransitionEvent, self.get_name() + '/transition_event',

diff --git a/system_modes/test/launchtest/redundant_mode_changes.py b/system_modes/test/launchtest/redundant_mode_changes.py
@@ -19,7 +19,7 @@ def __init__(self, name):
         super().__init__(name)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
         self.add_on_set_parameters_callback(self.parameter_callback)
 
         # State change service

diff --git a/system_modes/test/launchtest/two_independent_hierarchies.py b/system_modes/test/launchtest/two_independent_hierarchies.py
@@ -17,7 +17,7 @@ def __init__(self, name):
         super().__init__(name)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
         self.add_on_set_parameters_callback(self.parameter_callback)
 
         # State change service

diff --git a/system_modes/test/launchtest/two_lifecycle_nodes.py b/system_modes/test/launchtest/two_lifecycle_nodes.py
@@ -13,11 +13,11 @@
 
 class FakeLifecycleNode(Node):
 
-    def __init__(self, name):
-        super().__init__(name)
+    def __init__(self, name, ns=''):
+        super().__init__(name, namespace=ns)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
         self.add_on_set_parameters_callback(self.parameter_callback)
 
         # State change service
@@ -29,14 +29,25 @@ def __init__(self, name):
     def parameter_callback(self, params):
         for p in params:
             if p.name == 'bar' and p.type_ == Parameter.Type.STRING:
-                self.get_logger().info('Parameter %s:%s:%s' % (self.get_name(), p.name, p.value))
+                self.get_logger().info('Parameter %s/%s:%s:%s' % (
+                    ('' if self.get_namespace() == '/' else self.get_namespace()),
+                    self.get_name(),
+                    p.name,
+                    p.value))
             if p.name == 'foo' and p.type_ == Parameter.Type.DOUBLE:
-                self.get_logger().info('Parameter %s:%s:%s' % (self.get_name(), p.name, p.value))
+                self.get_logger().info('Parameter %s/%s:%s:%s' % (
+                    ('' if self.get_namespace() == '/' else self.get_namespace()),
+                    self.get_name(),
+                    p.name,
+                    p.value))
         return SetParametersResult(successful=True)
 
     def change_state_callback(self, request, response):
         response.success = True
-        self.get_logger().info('Transition %s:%s' % (self.get_name(), request.transition.label))
+        self.get_logger().info('Transition %s/%s:%s' % (
+            ('' if self.get_namespace() == '/' else self.get_namespace()),
+            self.get_name(),
+            request.transition.label))
 
         return response
 
@@ -76,7 +87,7 @@ def main(args=None):
     try:
         executor = SingleThreadedExecutor()
         node_a = FakeLifecycleNode('A')
-        node_b = FakeLifecycleNode('B')
+        node_b = FakeLifecycleNode('B', ns="foo")
 
         executor.add_node(node_a)
         executor.add_node(node_b)

diff --git a/system_modes/test/launchtest/two_lifecycle_nodes_expected_output.regex b/system_modes/test/launchtest/two_lifecycle_nodes_expected_output.regex
@@ -1,3 +1,3 @@
-Transition [AB]:configure
-Parameter B:bar:ONE
-Parameter A:foo:0\.2
+Transition \/(A|foo\/B):configure
+Parameter \/foo\/B:bar:ONE
+Parameter \/A:foo:0\.2
diff --git a/system_modes/test/launchtest/two_lifecycle_nodes_modes.yaml b/system_modes/test/launchtest/two_lifecycle_nodes_modes.yaml
@@ -6,17 +6,17 @@ sys:
     type: system
     parts:
       A
-      B
+      foo/B
     modes:
       __DEFAULT__:
         A: inactive
-        B: active
+        foo/B: active
       DD:
         A: active.AA
-        B: active.EE
+        foo/B: active.EE
       CC:
         A: active.BB
-        B: active.FF
+        foo/B: active.FF
 
 A:
   ros__parameters:
@@ -32,7 +32,7 @@ A:
         ros__parameters:
           foo: 0.2
 
-B:
+foo/B:
   ros__parameters:
     type: node
     modes:

diff --git a/system_modes/test/launchtest/two_mixed_nodes.py b/system_modes/test/launchtest/two_mixed_nodes.py
@@ -17,7 +17,7 @@ def __init__(self, name):
         super().__init__(name)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
         self.add_on_set_parameters_callback(self.parameter_callback)
 
         # State change service
@@ -47,7 +47,7 @@ def __init__(self, name):
         super().__init__(name)
 
         self.declare_parameter('foo', 0.0)
-        self.declare_parameter('bar', "ZERO")
+        self.declare_parameter('bar', 'ZERO')
         self.add_on_set_parameters_callback(self.parameter_callback)
 
     def parameter_callback(self, params):