allow user to specify which .exp/.tst files to use as args to experim…

…ent_comparison_select.launch.py

Signed-off-by: Michael Anderson <[email protected]>

.gitattributes

@@ -1,4 +1,5 @@
 *.em -linguist-detectable
 *.tst -linguist-detectable
+*.exp -linguist-detectable
 *.1 -linguist-detectable
 *.3 -linguist-detectable

buoy_tests/launch/experiment_comparison_select.launch.py

@@ -27,73 +27,110 @@
 from testing_utils import regenerate_models
 
 
-def generate_launch_description():
+def generate_test_fixture(context, *args, **kwargs):
+    """
+    Find input data files from launch argument in buoy_tests to pass to test.
+
+    For use as an OpaqueFunction:
+        launch.actions.OpaqueFunction(function=generate_test_fixture)
+
+    Will grab overridden inputs from launch arguments via context object and return
+    a gazebo test fixture node
+    """
 
+    test_inputdata_exp = LaunchConfiguration('test_inputdata_exp').perform(context)
+    test_inputdata_tst = LaunchConfiguration('test_inputdata_tst').perform(context)
+    print(f'{test_inputdata_exp=}')
+    print(f'{test_inputdata_tst=}')
+
+    # Input data
     test_inputdata_exp = os.path.join(
         get_package_share_directory('buoy_tests'),
         'test_inputdata',
-        'FrictionIDMovesWithBiasCurr.exp'
+        test_inputdata_exp
     )
 
     test_inputdata_tst = os.path.join(
         get_package_share_directory('buoy_tests'),
         'test_inputdata',
-        'FrictionIDMovesWithBiasCurr.tst'
+        test_inputdata_tst
     )
 
+    # Test fixture
+    manual_test = LaunchConfiguration('manual').perform(context)
+    manual_test = (manual_test == 'True')
+    print(f'{manual_test=}')
+    if manual_test:
+        gazebo_test_fixture = Node(
+            package='buoy_tests',
+            executable='experiment_comparison',
+            output='both',
+            parameters=[
+                {'use_sim_time': True},
+                {'inputdata_filename': test_inputdata_exp},
+                {'manual_comparison': True}
+            ],
+            namespace='/experiment_comparison',
+            prefix=['x-terminal-emulator -e'],
+            shell=True,
+            on_exit=Shutdown()
+        )
+
+    else:
+        gazebo_test_fixture = Node(
+            package='buoy_tests',
+            executable='experiment_comparison',
+            output='both',
+            parameters=[
+                {'use_sim_time': True},
+                {'inputdata_filename': test_inputdata_tst},
+                {'manual_comparison': False}
+            ],
+            namespace='/experiment_comparison',
+            on_exit=Shutdown()
+        )
+
+    # Regenerate models
+    nodes = list(args) + [gazebo_test_fixture]
+    sim_params = dict(inc_wave_spectrum='inc_wave_spectrum_type:None',
+                      physics_rtf=11.0,
+                      physics_step=0.001,
+                      initial_piston_position=2.03,
+                      initial_buoy_height=2.0)
+
+    return OpaqueFunction(function=regenerate_models,
+                          args=nodes,
+                          kwargs=sim_params),
+
+
+def generate_launch_description():
+
     manual_comparison_arg = DeclareLaunchArgument(
         'manual', default_value='False',
         description='compare data manually'
     )
 
-    # Test fixture
-    gazebo_test_fixture = Node(
-        package='buoy_tests',
-        executable='experiment_comparison',
-        output='both',
-        parameters=[
-            {'use_sim_time': True},
-            {'inputdata_filename': test_inputdata_tst},
-            {'manual_comparison': False}
-        ],
-        namespace='/experiment_comparison',
-        condition=UnlessCondition(LaunchConfiguration('manual')),
-        on_exit=Shutdown()
+    test_inputdata_exp_arg = DeclareLaunchArgument(
+        'test_inputdata_exp', default_value='FrictionIDMovesWithBiasCurr.exp',
+        description='.exp bench test file'
     )
 
-    gazebo_test_fixture_manual = Node(
-        package='buoy_tests',
-        executable='experiment_comparison',
-        output='both',
-        parameters=[
-            {'use_sim_time': True},
-            {'inputdata_filename': test_inputdata_exp},
-            {'manual_comparison': True}
-        ],
-        namespace='/experiment_comparison',
-        prefix=['x-terminal-emulator -e'],
-        shell=True,
-        condition=IfCondition(LaunchConfiguration('manual')),
-        on_exit=Shutdown()
+    test_inputdata_tst_arg = DeclareLaunchArgument(
+        'test_inputdata_tst', default_value='FrictionIDMovesWithBiasCurr.tst',
+        description='.tst sim test file (approved by user and used for CI)'
     )
 
     bridge = Node(package='ros_gz_bridge',
                   executable='parameter_bridge',
                   arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
                   output='screen')
 
-    nodes = [gazebo_test_fixture,
-             gazebo_test_fixture_manual,
-             bridge]
-    sim_params = dict(inc_wave_spectrum='inc_wave_spectrum_type:None',
-                      physics_rtf=11.0,
-                      physics_step=0.001,
-                      initial_piston_position=2.03,
-                      initial_buoy_height=2.0)
+    nodes = [bridge]
 
     return launch.LaunchDescription([
         manual_comparison_arg,
-        OpaqueFunction(function=regenerate_models,
-                       args=nodes,
-                       kwargs=sim_params),
+        test_inputdata_exp_arg,
+        test_inputdata_tst_arg,
+        OpaqueFunction(function=generate_test_fixture,
+                       args=nodes)
     ])