Unlock 30% off on Manual Testing Annual Plans this Holiday Season.
Copied to Clipboard!
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

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.