How to use _create_node method in lisa

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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