utest.py

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# Author: Brian Gerkey/Ken Conley

PKG = 'test_rospack'
import roslib; roslib.load_manifest(PKG)

import os
import unittest
import tempfile
import shutil
from subprocess import Popen, PIPE

ROS_ROOT = 'ROS_ROOT'
ROS_PACKAGE_PATH = 'ROS_PACKAGE_PATH'
ROS_LANG_DISABLE = 'ROS_LANG_DISABLE'

_structure_test_p = os.path.abspath('structure_test')
# expected layout of the structure_test directory, used for rospack find and list tests
structure_test = {
    'package1': 'package1',
    'package2': 'package2',
    'package3': 'subdir1/package3',
    'package4': 'subdir1/subdir1_1/package4',
    'package5': 'subdir1/subdir1_1/package5',
    'package6': 'subdir3/package6',
    'package7': 'subdir3/package7',            
    }
# canonicalize
for k in structure_test.keys():
    structure_test[k] = os.path.abspath(os.path.join(_structure_test_p, structure_test[k]))


aliases = {
    'deps': 'depends',
    'deps1': 'depends1',
    'deps-manifests': 'depends-manifests',
    'deps-indent': 'depends-indent',
    'rosdep': 'rosdeps',
    'rosdep0': 'rosdeps0'
    }

# Grab the initial CWD, so that we can set it back later.
initial_cwd = os.getcwd()

## Process-level tests of rospack executable
class RospackTestCase(unittest.TestCase):
    
    ## runs rospack with ROS_ROOT set to ./test and ROS_PACKAGE_PATH unset
    ## @return int, str: return code, stdout
    def _run_rospack(self, ros_root, ros_package_path, pkgname, command):
        env = os.environ.copy()
        if ros_root is not None:
            env[ROS_ROOT] = ros_root
        else:
            del env[ROS_ROOT]            
        if ros_package_path is not None:
            env[ROS_PACKAGE_PATH] = ros_package_path
        elif ROS_PACKAGE_PATH in env:
            del env[ROS_PACKAGE_PATH]
        # Must split up the command string into its whitespace separated
        # components; otherwise you get multiple words as one element of
        # argv.
        #args = ["rospack", command, pkgname]
        args = ["rospack"]
        if command:
          for s in command.split():
            args.append(s)
        if pkgname is not None:
          args.append(pkgname)
        p = Popen(args, stdout=PIPE, stderr=PIPE, env=env)
        stdout, stderr = p.communicate()

        # Also test command aliases, verifying that they give the same 
        # return code and console output
        if command:
          cmd = command.split()[-1] 
          if cmd in aliases:
            args[-2] = aliases[cmd]
            alias_p = Popen(args, stdout=PIPE, stderr=PIPE, env=env)
            alias_stdout, alias_stderr = alias_p.communicate()
            self.assertEquals(p.returncode, alias_p.returncode)
            self.assertEquals(stdout, alias_stdout)
            #self.assertEquals(stderr, alias_stderr)

        # rospack should only yield non-negative return codes.  A negative
        # return code indicates a crash (e.g., SIGSEGV, SIGABORT), which is
        # never ok.
        if p.returncode < 0:
          # Some tests change CWD before calling _run_rospack(), then
          # change it back to the original value afterward.  If we're going 
          # to fail here, we need to set it back first.
          os.chdir(initial_cwd)
          self.fail('rospack returned non-zero exit code, indicating a crash')

        return p.returncode, stdout.strip(), stderr

    ################################################################################
    # HELPER ROUTINES
    # NOTE: helpers with the 'e' prefix take in environment parameters
        
    ## @return str: stdout
    def run_rospack(self, pkgname, command):
        ros_root = os.path.abspath('test')
        return self._run_rospack(ros_root, None, pkgname, command)[1]

    ## @return str: stdout
    def erun_rospack(self, ros_root, ros_package_path, pkgname, command):
        return self._run_rospack(ros_root, ros_package_path, pkgname, command)[1]

    ## runs rospack with ROS_ROOT set to ./test and ROS_PACKAGE_PATH unset
    ## @return int: status code
    def run_rospack_status(self, pkgname, command):
        ros_root = os.path.abspath('test')        
        return self._run_rospack(ros_root, None, pkgname, command)[0]

    ## @return int: status code
    def erun_rospack_status(self, ros_root, ros_package_path, pkgname, command):
        return self._run_rospack(ros_root, ros_package_path, pkgname, command)[0]

    ## assert that rospack fails on the specified args
    def rospack_fail(self, package, command):
        ros_root = os.path.abspath('test')
        code, stdout, stderr = self._run_rospack(ros_root, None, package, command)
        self.assertNotEquals(0, code, "rospack [%s %s] should have failed. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, stdout, stderr))

    ## assert that rospack fails on the specified args. includes ROS_ROOT and ROS_PACKAGE_PATH
    def erospack_fail(self, ros_root, ros_package_path, package, command):
        code, stdout, stderr = self._run_rospack(ros_root, ros_package_path, package, command)
        self.assertNotEquals(0, code, "rospack [%s %s] should have failed instead of returning status code 0. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, stdout, stderr))

    ## assert that rospack succeeds on the specified args
    def rospack_succeed(self, package, command):
        ros_root = os.path.abspath('test')        
        status_code, stdout, stderr = self._run_rospack(ros_root, None, package, command)
        self.assertEquals(0, status_code, '"rospack %s %s" failed with status code [%s] instead of succeeding with [0]. \n\nstdout[%s] \n\nstderr[%s]'%(command, package, status_code, stdout, stderr))

    ## assert that rospack succeeds on the specified args
    def erospack_succeed(self, ros_root, ros_package_path, package, command):
        status_code, stdout, stderr = self._run_rospack(ros_root, ros_package_path, package, command)
        self.assertEquals(0, status_code, "rospack [%s %s, env ROS_ROOT=%s ROS_PACKAGE_PATH=%s] failed with status code [%s] instead of succeeding with [0]. \n\nstdout[%s] \n\nstderr[%s]"%(command, package, ros_root, ros_package_path, status_code, stdout, stderr))

    # helper routine that does return value validation where the return value from
    # rospack is an unordered, line-separated list
    def check_ordered_list(self, command, tests):
        for retlist, package in tests:
            expected = set(retlist)
            self.rospack_succeed(package, command)
            retval = self.strip_opt_ros(self.run_rospack(package, command))
            retactual = [v for v in retval.split('\n') if v]            
            self.failIf(set(retlist) ^ set(retactual), "rospack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual))
            self.assertEquals('\n'.join(retlist), '\n'.join(retactual))

    # variant of check_ordered_list that allows specifying ros_root and ros_package_path.
    # helper routine that does return value validation where the return value from
    # rospack is an unordered, line-separated list
    def echeck_ordered_list(self, command, tests):
        for retlist, ros_root, ros_package_path, package in tests:
            expected = set(retlist)
            self.erospack_succeed(ros_root, ros_package_path, package, command)
            retval = self.erun_rospack(ros_root, ros_package_path, package, command)
            retactual = [v for v in retval.split('\n') if v]
            self.failIf(set(retlist) ^ set(retactual), "[env %s %s] rospack %s %s failed: [%s] vs [%s]"%(ros_root, ros_package_path, command, package, retlist, retactual))

    # variant that does not require ordering among the return values
    def check_unordered_list(self, command, tests):
        for retlist, package in tests:
            expected = set(retlist)
            self.rospack_succeed(package, command)
            retval = self.run_rospack(package, command)
            retactual = [v for v in retval.split('\n') if v]            
            self.failIf(set(retlist) ^ set(retactual), "rospack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual))
            #self.assertEquals('\n'.join(retlist), '\n'.join(retactual))

    # variant that does not require ordering among the return values
    def echeck_unordered_list(self, command, tests):
        for retlist, ros_root, ros_package_path, package in tests:
            expected = set(retlist)
            self.erospack_succeed(ros_root, ros_package_path, package, command)
            retval = self.erun_rospack(ros_root, ros_package_path, package, command)
            retactual = [v for v in retval.split('\n') if v]            
            self.failIf(set(retlist) ^ set(retactual), "rospack %s %s failed: [%s] vs [%s]"%(command, package, retlist, retactual))
            #self.assertEquals('\n'.join(retlist), '\n'.join(retactual))
        
    ################################################################################
    ## ARG PARSING
        
    def test_no_option(self):
        self.rospack_succeed(None, None)

    def test_fake_option(self):
        self.rospack_fail("deps", "--fake deps")

    def test_invalid_option(self):
        self.rospack_fail("deps", "deps --lang=cpp --attrib=flags")
        self.rospack_fail("deps", "deps --lang=cpp")
        self.rospack_fail("deps", "deps --attrib=lflags")
        self.rospack_fail("base", "export --lang=cpp --attrib=cflags --top=")
        self.rospack_fail(None, "profile --length=")
        self.rospack_fail(None, "deps --length=10")
        self.rospack_fail(None, "deps --zombie-only")
        self.rospack_fail(None, "profile --deps-only")

    def test_ros_cache_timeout(self):
        env = os.environ.copy()
        os.environ['ROS_CACHE_TIMEOUT'] = '0'
        self.rospack_succeed(None, "profile")
        os.environ['ROS_CACHE_TIMEOUT'] = '-1'
        self.rospack_succeed(None, "profile")
        import time
        time.sleep(0.1)
        os.environ['ROS_CACHE_TIMEOUT'] = '.001'
        self.rospack_succeed(None, "profile")
        os.environ = env

    def test_profile(self):
        # TODO: test that the output is correct
        self.rospack_succeed(None, "profile --zombie-only")
        # TODO: test that the output is correct
        self.rospack_succeed(None, "profile --length=10")

    def test_ros_home(self):
        env = os.environ.copy()

        # Make sure we write to ROS_HOME, #2812.
        d = tempfile.mkdtemp()
        os.environ['ROS_HOME'] = d
        cache_path = os.path.join(d,'rospack_cache')
        self.rospack_succeed(None, "profile")
        self.assertEquals(True, os.path.exists(cache_path))
        # Make sure we auto-create ROS_HOME
        shutil.rmtree(d)
        self.rospack_succeed(None, "profile")
        self.assertEquals(True, os.path.exists(cache_path))
        # Test with a corrupted cache
        f = open(cache_path, 'w')
        f.write('#SOMETHING\n')
        f.close()
        self.rospack_succeed(None, "list")
        # Make sure we proceed when we can't write to ROS_HOME
        os.chmod(d, 0000)
        self.rospack_succeed(None, "profile")
        # Delete the .ros directory, just in case this test is being run as
        # root, in which case the above call will cause .ros to be created,
        # despite the restrictive permissions that were set.
        if os.path.exists(d):
            os.chmod(d, 0700)
            shutil.rmtree(d)
        # Make sure we proceed when we HOME/.ros isn't a directory
        f = open(d, 'w')
        f.close()
        os.chmod(d, 0700)
        self.rospack_succeed(None, "profile")
        # Make sure we proceed when neither HOME nor ROS_HOME is set
        del os.environ['ROS_HOME']
        del os.environ['HOME']
        self.rospack_succeed(None, "profile")

        # Clean up
        os.unlink(d)
        os.environ = env

    def test_no_package_allowed(self):
        self.rospack_succeed(None, "help")
        self.rospack_succeed(None, "profile")
        self.rospack_succeed(None, "list")
        self.rospack_succeed(None, "list-names")
        self.rospack_succeed(None, "list-duplicates")
        self.rospack_succeed(None, "langs")

    def test_no_package_allowed_bad(self):
        self.rospack_fail("deps", "help")
        self.rospack_fail("deps", "profile")
        self.rospack_fail("deps", "list")
        self.rospack_fail("deps", "list-names")
        self.rospack_fail("deps", "list-duplicates")
        self.rospack_fail("deps", "langs")

    def test_invalid_option_order(self):
        self.rospack_fail("deps", "--lang=cpp --attrib=lflags export")
        self.rospack_fail("deps", "--lang=cpp export --attrib=lflags")
        self.rospack_fail("deps", "--deps-only cflags-only-I")

    def test_export_bad(self):
        self.rospack_fail("base", "export --lang= --attrib=lflags")
        self.rospack_fail("base", "export --lang=cpp --attrib=")
        self.rospack_fail("base", "export --attrib=lflags")
        self.rospack_fail("base", "export --lang=cpp")
        self.rospack_fail("base", "export --lang=cpp --lang=python --attrib=lflags")
        self.rospack_fail("base", "export --lang=cpp --attrib=lflags --attrib=cflags")
        self.rospack_fail("base", "export --lang=cpp --attrib=cflags --top=foo")

    def test_plugins_bad(self):
        self.rospack_fail("base", "plugins")
        self.rospack_fail("base", "plugins --lang=cpp")
        self.rospack_fail("base", "plugins --attrib=")
        self.rospack_fail("base", "plugins --top=foo")

    def test_rosdep(self):
        self.rospack_succeed("base", "rosdep")
        self.assertEquals("name: foo", self.run_rospack("base", "rosdep"))
        self.rospack_succeed("deps", "rosdep0")
        self.assertEquals("name: bar", self.run_rospack("deps", "rosdep0"))
        self.check_unordered_list("rosdep", [(["name: foo", "name: bar"], "deps")])
  
    ################################################################################
    ## EXPORT

    def test_export_cpp(self):
        package = 'base'
        tests = [("-lfoo", "export --lang=cpp --attrib=lflags"),
                 ("-lfoo", "export --attrib=lflags --lang=cpp"),
                 ("-Isomething", "export --lang=cpp --attrib=cflags"),
                 ("-Isomething", "export --attrib=cflags --lang=cpp"),
                ]
        for retval, arg in tests:
            self.rospack_succeed(package, arg)
            self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg)))
        self.assertEquals("-lfoo -lbar", self.strip_opt_ros(self.run_rospack("deps", "export --lang=cpp --attrib=lflags --deps-only")))
        #TODO: test export with $prefix

    def test_export_roslang(self):
        package = 'base'
        tests = [("something.cmake", "export --lang=roslang --attrib=cmake")]
        for retval, arg in tests:
            self.rospack_succeed(package, arg)
            self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg)))

    def test_export_non_existent_attrib(self):
        self.rospack_succeed("base", "export --lang=cpp --attrib=fake")
        self.failIf(self.run_rospack("base", "export --lang=cpp --attrib=fake"))

    ################################################################################
    ## Plugins

    def test_plugins(self):
        tests = [(["deps foo.cmake", "plugins bat.cmake"], "base")]
        self.check_unordered_list("plugins --attrib=cmake", tests)

        package = 'base'
        tests = [("deps foo.cmake", "plugins --attrib=cmake --top=deps")]
        for retval, arg in tests:
            self.rospack_succeed(package, arg)
            self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg)))
        package = 'base_two'
        tests = [("deps bar.cmake", "plugins --attrib=cmake")]
        for retval, arg in tests:
            self.rospack_succeed(package, arg)
            self.assertEquals(retval, self.strip_opt_ros(self.run_rospack(package, arg)))

    ################################################################################
    ## ENVIRONMENT TEST

    def test_no_ros_root(self):
        testp = os.path.abspath('test')
        self.erospack_fail(None, testp, "deps", "deps")

    def test_bad_ros_root(self):
        # #468 test. this is the chosen exit code, distinguish against segfault
        non_existent1 = os.path.abspath('non_existent1')
        testp = os.path.abspath("test")        
        self.assertNotEquals(0, self.erun_rospack_status(non_existent1, testp, "deps", "deps"))

    ## test rospack with ROS_ROOT=ROS_PACKAGE_PATH 
    def test_ros_root_ros_package_path_identical(self):
        #implicitly depending on the deps test here
        #set ros_package_path to be identical to ros_root
        testp = os.path.abspath('test')        
        tests = [
            (["base", "base_two"], testp, testp, "deps"),
            ]
        self.echeck_ordered_list("deps", tests)

    ## test rospack with ROS_PACKAGE_PATH set to the empty string
    def test_empty_ros_package_path(self):
        testp = os.path.abspath('test')        
        tests = [
            (["base", "base_two"], testp, '', "deps"),
            ]
        self.echeck_ordered_list("deps", tests)

    ## tests internal rpp precedence (#2854)
    def test_ros_package_path_precedence(self):
        teste = os.path.abspath('test_empty')
        testp = os.path.abspath('test')
        test2p = os.path.abspath('test2')
        testp_roslang = os.path.join(testp, 'roslang')
        test2p_roslang = os.path.join(test2p, 'roslang')
        tests = [([testp_roslang], teste, ':'.join([testp, test2p]), "roslang"),
                  ([testp_roslang], teste, ':'.join([testp, test2p_roslang]), "roslang"),
                  ([testp_roslang], teste, ':'.join([testp_roslang, test2p]), "roslang"),
                  ([testp_roslang], teste, ':'.join([testp_roslang, test2p_roslang]), "roslang")]
        self.echeck_unordered_list('find', tests)

    ## tests rpp vs rr precedence
    def test_ros_package_path_precedence_1(self):
        testp = os.path.abspath('test')
        test2p = os.path.abspath('test2')
        test3p = os.path.abspath('test3')                
        tests = [
            (["test"], testp, test2p, "precedence1"),
            (["test2"], test2p, testp, "precedence1"),
            (["test2"], testp, "%s:%s"%(test2p, test3p), "precedence2"),
            (["test3"], testp, "%s:%s"%(test3p, test2p), "precedence2"),
            ]
        self.echeck_ordered_list('libs-only-l', tests)

    ## tests list-duplicates
    def test_list_duplicates(self):
        testp = os.path.abspath('test')
        test2p = os.path.abspath('test2')
        test3p = os.path.abspath('test3')                
        self.erospack_succeed(testp, None, None, 'list-duplicates')
        self.erospack_fail(testp, '%s:%s'%(test2p,test3p), None, 'list-duplicates')

    # test ability to point ros_package_path directly at package
    def test_ros_package_path_direct_package(self):
        testp = os.path.abspath('test')
        test2p = os.path.abspath('test2')
        test3p = os.path.abspath('test3')        
        # point directly at precedence 2/3
        rpp = ':'.join([os.path.join(test2p, 'precedence2'),os.path.join(test3p, 'precedence3')])
        tests = [
            (["test2"], testp, rpp, "precedence2"),
            (["test3"], testp, rpp, "precedence3"),
            ]
        self.echeck_ordered_list('libs-only-l', tests)
        
    def test_ros_package_path_colons(self):
        # scatter some colons into ros package path to make sure rospack doesn't mind
        testp = os.path.abspath('test')
        test2p = os.path.abspath('test2')
        # Add a trailing slash, to make sure that it gets removed
        test3p = os.path.abspath('test3') + '/'
        tests = [
            (["base","base_two"], testp, "::%s:::"%testp, "deps"),
            (["base","base_two"], testp, "::", "deps"),
            ]
        self.echeck_ordered_list('deps', tests)
        tests = [
            (["test"], testp, ":::%s:"%test2p, "precedence1"),
            (["test2"],testp, "::%s::%s::"%(test2p,test3p), "precedence2"),
            ]
        self.echeck_ordered_list("libs-only-l", tests)

    def test_ros_package_path_bad_paths(self):
        testp = os.path.abspath('test')
        test2p = os.path.abspath('test2')
        non_existentp = os.path.abspath('test')
        tests = [
            (["test"], testp, non_existentp, "precedence1"),
            (["test2"],testp, ":%s:%s"%(non_existentp, test2p), "precedence2"),
            (["test2"],testp, ":%s:%s"%(test2p, non_existentp), "precedence2"),
            ]
        self.echeck_ordered_list("libs-only-l", tests)

    # Test rospack from within a package
    def test_ros_in_package(self):
        pwd = os.getcwd()
        ros_root = os.path.join(pwd, 'test')
        os.chdir(os.path.abspath(os.path.join('test', 'deps')))
        self.erospack_succeed(ros_root, None, None, 'depends1')
        self.echeck_unordered_list('depends1', [(["base", "base_two"], ros_root, None, None)])
        # Check what happens when we're in an unlinked directory
        d = tempfile.mkdtemp()
        os.chdir(d)
        os.rmdir(d)
        self.erospack_fail(ros_root, None, None, 'depends1')
        os.chdir(pwd)

    ################################################################################
    ## rospack list
        
    def _rospack_list(self, ros_root, ros_package_path):
        env = os.environ.copy()
        if ros_root is not None:
            env[ROS_ROOT] = ros_root
        else:
            del env[ROS_ROOT]            
        if ros_package_path is not None:
            env[ROS_PACKAGE_PATH] = ros_package_path
        elif ROS_PACKAGE_PATH in env:
            del env[ROS_PACKAGE_PATH]
        args = ["rospack", 'list']
        p = Popen(args, stdout=PIPE, stderr=PIPE, env=env)
        retval = p.communicate()[0]
        return p.returncode, retval.strip()
        
    def _check_rospack_list(self, expected, retval):
        lines = [l for l in retval.split('\n') if l]
        packages = [l[:l.find(' ')] for l in lines]
        # canonicalize paths
        paths = [os.path.abspath(l[l.find(' ')+1:]) for l in lines]
        result = {}
        for pack, path in zip(packages, paths):
            result[pack] = os.path.abspath(path) 
        self.failIf(set(expected.keys()) ^ set(packages), "package lists do not match (expected vs. actual): %s vs %s"%(expected.keys(), packages))
        for pack,path in expected.iteritems():
            self.assertEquals(path, result[pack])

    ## test rospack list on an empty tree
    def test_rospack_list_empty(self):
        rr = os.path.abspath('test_empty')
        retcode, retval = self._rospack_list(rr, None)
        self.assertEquals(0, retcode)
        self.failIf(retval, "rospack list on empty directory returned value %s"%retval)

    ## test rospack depends-on1 in a directory that's not a package (#2556)
    def test_rospack_depends_on_not_a_package(self):
        pwd = os.getcwd()
        ros_root = os.path.abspath('test')
        os.chdir(os.path.abspath('test_empty'))
        self.erospack_fail(ros_root, None, None, 'depends-on1')
        os.chdir(pwd)
        
    # test that rospack list removes duplicates
    def test_rospack_list_dups(self):
        # make sure result is same if ROS_ROOT=ROS_PACKAGE_PATH
        rr = os.path.abspath('structure_test')        
        retcode, retval = self._rospack_list(rr, None)
        self.assertEquals(0, retcode)
        retcode2, retval2 = self._rospack_list(rr, rr)
        self.assertEquals(0, retcode2)
        self.assertEquals(retval, retval2, "rospack list did not remove duplicates")
        
    def test_rospack_list_no_rpp(self):
        rr = os.path.abspath('structure_test')
        expected = structure_test.copy()
        retcode, retval = self._rospack_list(rr, None)
        self.assertEquals(0, retcode)
        self._check_rospack_list(expected, retval)
        
        #TODO: symlink test
        #TODO: test with ros package path 

    ################################################################################
    ## rospack list-names
        
    def _rospack_list_names(self, ros_root, ros_package_path):
        env = os.environ.copy()
        if ros_root is not None:
            env[ROS_ROOT] = ros_root
        else:
            del env[ROS_ROOT]            
        if ros_package_path is not None:
            env[ROS_PACKAGE_PATH] = ros_package_path
        elif ROS_PACKAGE_PATH in env:
            del env[ROS_PACKAGE_PATH]
        args = ["rospack", 'list-names']
        p = Popen(args, stdout=PIPE, stderr=PIPE, env=env)
        retval = p.communicate()[0]
        return p.returncode, retval.strip()
        
    ## test rospack list-names on an empty tree
    def test_rospack_list_names_empty(self):
        rr = os.path.abspath('test_empty')
        retcode, retval = self._rospack_list_names(rr, None)
        self.assertEquals(0, retcode)
        self.failIf(retval, "rospack list-names on empty directory returned value %s"%retval)
        
    # test that rospack list removes duplicates
    def test_rospack_list_names_dups(self):
        # make sure result is same if ROS_ROOT=ROS_PACKAGE_PATH
        rr = os.path.abspath('structure_test')        
        retcode, retval = self._rospack_list_names(rr, None)
        self.assertEquals(0, retcode)
        retcode2, retval2 = self._rospack_list_names(rr, rr)
        self.assertEquals(0, retcode2)
        self.assertEquals(retval, retval2, "rospack list-names did not remove duplicates")
        
    def test_rospack_list_names_no_rpp(self):
        rr = os.path.abspath('structure_test')
        expected = set(structure_test.copy().keys())
        retcode, retval = self._rospack_list_names(rr, None)
        self.assertEquals(0, retcode)
        self.assertEquals(expected, set(retval.split()))
        
        #TODO: symlink test
        #TODO: test with ros package path 

    ################################################################################
    ## rospack find
        
    ## test rospack find on non-existent package
    def test_rospack_find_fail(self):
        rr = os.path.abspath('test_empty')
        self.erospack_fail(rr, None, 'package', 'find')

    ## test rospack find with ros_package_path set directly to a package
    def test_rospack_find_direct(self):
        testp = os.path.abspath('test')
        package1p = os.path.abspath(os.path.join('structure_test', 'package1'))
        self.erospack_succeed(testp, package1p, 'package1', 'find')
        self.assertEquals(package1p, self.erun_rospack(testp, package1p, 'package1', 'find'))

    ## test rospack find with ros_package_path set directly to a package,
    ## where that package contains a rospack_nosubdirs file, #3191.
    def test_rospack_find_direct_with_rospack_nosubdirs(self):
        testp = os.path.abspath('test')
        package2p = os.path.abspath(os.path.join('structure_test', 'package2'))
        self.erospack_succeed(testp, package2p, 'package2', 'find')
        self.assertEquals(package2p, self.erun_rospack(testp, package2p, 'package2', 'find'))
        
    def test_rospack_find_no_rpp(self):
        rr = os.path.abspath('structure_test')
        expected = structure_test.copy()
        for package,path in expected.iteritems():
            self.erospack_succeed(rr, None, package, 'find')
            self.assertEquals(path, os.path.abspath(self.erun_rospack(rr, None, package, 'find')))

        #TODO: symlink test
        #TODO: test with ros package path 

    ################################################################################
    ## DEPENDENCIES

    def test_deps(self):
        depth_list = ['depth-%s'%i for i in xrange(1, 101)]
        depth_list.reverse()
        tests = [
            (["base","base_two"], "deps"),
            (["base","base_two","deps"], "deps_higher"),
            (["base","base_two","deps","deps_higher"],"deps_dup"),
            (depth_list, "depth-0")
            ]
        self.check_ordered_list('deps', tests)        

    def test_deps1(self):
        tests = [        
            (["base","base_two"], "deps"),
            (["deps"], "deps_higher"),
            (["depth-1"], "depth-0"),
            (["depth-99"], "depth-98"),
            ]
        self.check_ordered_list('deps1',tests)

    def test_deps_invalid(self):
        self.rospack_fail("deps_invalid", "deps")

    def test_depends_on(self):
        depth_list = ['depth-%s'%i for i in xrange(0, 100)]
        depth_list.reverse()

        self.rospack_succeed("deps", "depends-on")
        tests = [
            (["plugins", "deps_dup", "deps", "deps_higher"], "base"),
            (["deps_higher","deps_dup"], "deps"),
            ([], "depth-0"),
            (depth_list, "depth-100"),
            ]
        self.check_unordered_list("depends-on", tests)

    def test_depends_on1(self):
        # sanity check first
        self.rospack_succeed("deps", "depends-on")
        tests = [
            (["deps_higher"], "deps"),
            (["deps", "deps_dup", "plugins"], "base"),
            (["deps", "deps_dup"], "base_two"),            
            ]
        self.check_unordered_list("depends-on1", tests)

    def test_depends_on_nonexistent(self):
        self.rospack_fail("deps", "deps_nonexistent")
        self.rospack_fail("deps", "nonexistentpackage")
        tests = [
            (["deps_nonexistent"], "nonexistentpackage"),
            ]
        self.check_ordered_list("depends-on", tests)

    def test_lflags_base(self):
        self.rospack_succeed("base", "libs-only-l")
        self.assertEquals("foo", self.run_rospack("base", "libs-only-l"))

    def test_circular(self):
        testp = os.path.abspath("test")
        self.erospack_fail(testp, os.path.abspath("test_circular/cycle0"), "self_ref", "deps")
        self.erospack_fail(testp, os.path.abspath("test_circular/cycle1"), "friend1", "deps")
        self.erospack_fail(testp, os.path.abspath("test_circular/cycle1"), "friend2", "deps")
        self.erospack_fail(testp, os.path.abspath("test_circular/cycle2"), "friend1", "deps")
        self.erospack_fail(testp, os.path.abspath("test_circular/cycle2"), "friend2", "deps")
        self.erospack_fail(testp, os.path.abspath("test_circular/cycle2"), "friend3", "deps")

        # Interestingly, depends-on succeeds in the face of circular
        # dependency
        self.erospack_succeed(testp, os.path.abspath("test_circular/cycle2"), "friend3", "depends-on")

    def test_lflags_backquote(self):
        self.rospack_succeed("backquote", "libs-only-l")
        self.assertEquals("loki foo backquote", self.run_rospack("backquote", "libs-only-l"))

    def test_backquote_invalid(self):
        self.rospack_fail("backquote_invalid", "libs-only-other")

    # Strip out '/opt/ros' and friends from flags before checking them
    def strip_opt_ros(self, flags):
      prefix = '/opt/ros'
      if 'ROS_BINDEPS_PATH' in os.environ:
        prefix = os.environ['ROS_BINDEPS_PATH']
      tostrip = [prefix + '/lib', 
                 prefix + '/include', 
                 '-L' + prefix + '/lib', 
                 '-I' + prefix + '/include',
                 '-Wl,-rpath,' + prefix + '/lib']
      res = ''
      for f in flags.split(' '):
        if f and f not in tostrip:
          if len(res) > 0:
            res += ' '
          res += f
      return res

    def test_Lflags_backquote(self):
        self.rospack_succeed("backquote", "libs-only-L")
        self.assertEquals("odin", self.strip_opt_ros(self.run_rospack("backquote", "libs-only-L")))

    def test_cflags_backquote(self):
        self.rospack_succeed("backquote", "cflags-only-I")
        self.assertEquals("blah backquote", self.strip_opt_ros(self.run_rospack("backquote", "cflags-only-I")))

    def test_lflags_archive(self):
        self.rospack_succeed("lflags_with_archive_lib", "libs-only-l")
        self.assertEquals("/usr/lib/libfoo.a", self.run_rospack("lflags_with_archive_lib", "libs-only-l"))
        self.rospack_succeed("lflags_with_archive_lib", "libs-only-other")
        self.assertEquals("/a/bad/flag", self.run_rospack("lflags_with_archive_lib", "libs-only-other"))

    def test_lflags_deps(self):
        self.rospack_succeed("deps", "libs-only-l")
        self.assertEquals("loki foo bar", self.run_rospack("deps", "libs-only-l"))

    def test_lflags_deps_only(self):
        self.rospack_succeed("deps", "libs-only-l --deps-only")
        self.assertEquals("foo bar", self.run_rospack("deps", "libs-only-l --deps-only"))

    def test_empty_lflags(self):
        tests = [([], "deps_empty")]
        commands = ["libs-only-l", "libs-only-L", "libs-only-other"]
        for c in commands:
            self.check_ordered_list(c, tests)

    def test_empty_cflags(self):
        tests = [([], "deps_empty")]
        commands = ["cflags-only-I", "cflags-only-other"]
        for c in commands:
            self.check_ordered_list(c, tests)

    def test_empty_vcs(self):
        self.rospack_succeed("empty", "vcs0")
        self.assertEquals("type: \turl:", self.run_rospack("empty", "vcs0"))
        self.rospack_succeed("deps_empty", "vcs")
        self.assertEquals("type: svn\turl: \ntype: \turl:", self.run_rospack("deps_empty", "vcs"))

    def test_vcs_no_type_or_url(self):
        self.rospack_succeed("vc_no_type_or_url", "vcs0")
        self.assertEquals("", self.run_rospack("vc_no_type_or_url", "vcs0"))

    def test_lflags_no_package_attrib(self):
        self.rospack_fail("no_package_attribute", "libs-only-l")

    def test_lflags_invalid(self):
        self.rospack_fail("invalid", "libs-only-l")

    def test_vcs_invalid(self):
        self.rospack_fail("invalid", "vcs")

    def test_deps1_invalid(self):
        self.rospack_fail("invalid", "deps1")

    def test_vcs0_deps(self):
        self.rospack_succeed("deps", "vcs0")
        self.failIf(self.run_rospack("deps", "vcs0"))

    def test_vcs_deps(self):
        self.rospack_succeed("deps", "vcs")
        self.assertEquals("type: svn\turl: https://ros.svn.sourceforge.net/svnroot/ros/trunk\n"+
                          "type: svn\turl: https://ros.svn.sourceforge.net/svnroot/ros/branches", self.run_rospack("deps", "vcs"))

    def test_deps_manifests(self):
        self.rospack_succeed("deps", "deps-manifests")
        testp = os.path.abspath('test')
        expected = os.path.join(testp, 'base/manifest.xml') + ' ' + os.path.join(testp, 'base_two/manifest.xml')
        self.assertEquals(expected, 
                          self.run_rospack("deps", "deps-manifests"))

    def test_deps_indent(self):
        self.rospack_succeed("deps_higher", "deps-indent")
        testp = os.path.abspath('test')
        expected = 'deps\n  base\n  base_two'
        self.assertEquals(expected, 
                          self.run_rospack("deps_higher", "deps-indent"))

    def _rospack_langs(self, ros_root, ros_package_path, ros_lang_disable):
        env = os.environ.copy()
        if ros_root is not None:
            env[ROS_ROOT] = ros_root
        else:
            del env[ROS_ROOT]            
        if ros_package_path is not None:
            env[ROS_PACKAGE_PATH] = ros_package_path
        elif ROS_PACKAGE_PATH in env:
            del env[ROS_PACKAGE_PATH]
        if ros_lang_disable is not None:
            env[ROS_LANG_DISABLE] = ros_lang_disable
        elif ROS_LANG_DISABLE in env:
            del env[ROS_LANG_DISABLE]
        args = ["rospack", 'langs']
        p = Popen(args, stdout=PIPE, stderr=PIPE, env=env)
        retval = p.communicate()[0]
        return p.returncode, retval.strip()

    def test_langs(self):
        rr = os.path.abspath('test')
        retcode, retval = self._rospack_langs(rr, None, None)
        self.assertEquals(0, retcode)
        # No guarantees on ordering of lang result
        l = retval.split()
        s = set(l)
        expected = set(['rosfoo', 'rosbar'])
        self.assertEquals(s, expected)

    def test_langs_disable(self):
        rr = os.path.abspath('test')
        disable = 'rosfoo'
        retcode, retval = self._rospack_langs(rr, None, disable)
        self.assertEquals(0, retcode)
        # No guarantees on ordering of lang result
        l = retval.split()
        s = set(l)
        expected = set(['rosbar'])
        self.assertEquals(s, expected)

    def test_langs_empty(self):
        rr = os.path.abspath('test2')
        retcode, retval = self._rospack_langs(rr, None, None)
        self.assertEquals(0, retcode)
        self.failIf(retval, "rospack langs on empty directory returned value %s"%retval)

    # Test auto-inclusion of msg_gen include directories, #3018
    def test_msg_gen(self):
        test_path = os.path.abspath('test')
        pkgs = ['msg_gen_no_export', 'msg_gen_no_cpp', 'msg_gen_no_cflags']
        for p in pkgs:
          self.rospack_succeed(p, "cflags-only-I")
          self.assertEquals(os.path.join(test_path, p, "msg_gen/cpp/include"), self.strip_opt_ros(self.run_rospack(p, "cflags-only-I")))

    # Test that -q option suppresses errors, #3177.
    def test_quiet_option(self):
        ros_root = os.path.abspath('test')
        # With -q: look for non-existent package, make sure that it fails, yet
        # produces nothing on stderr.
        status_code, stdout, stderr = self._run_rospack(ros_root, None, 'nonexistentpackage', 'find -q')
        self.assertNotEquals(0, status_code)
        self.assertEquals(0, len(stderr))
        # Without -q: look for non-existent package, make sure that it fails, 
        # and produces somthing on stderr.
        status_code, stdout, stderr = self._run_rospack(ros_root, None, 'nonexistentpackage', 'find')
        self.assertNotEquals(0, status_code)
        self.assertNotEquals(0, len(stderr))

if __name__ == "__main__":
    import rosunit
    rosunit.unitrun(PKG, 'rospack_exe_process', RospackTestCase)

---

test_rospack
Author(s): Brian Gerkey
autogenerated on Fri Jan 11 11:39:07 2013