test_include.cpp

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// Unit tests for include tags
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#include <catch_ros/catch.hpp>

#include "../../src/launch/launch_config.h"

#include "node_utils.h"
#include "param_utils.h"

using namespace rosmon::launch;

TEST_CASE("include basic", "[include]")
{
        LaunchConfig config;
        config.parseString(R"EOF(
                <launch>
                        <arg name="test_argument" value="hello" />

                        <include file="$(find rosmon_core)/test/basic_sub.launch">
                                <arg name="test_argument" value="$(arg test_argument)" />
                        </include>
                </launch>
        )EOF");

        config.evaluateParameters();

        auto params = config.parameters();

        CHECK(getTypedParam<std::string>(params, "/test_argument") == "hello");
}

TEST_CASE("include default", "[include]")
{
        // roslaunch allows this - to me it seems quite confusing, since the value
        // of the arg tag cannot be overriden, despite using "default".

        std::stringstream warnings;

        LaunchConfig config;
        config.setWarningOutput(&warnings);
        config.parseString(R"EOF(
                <launch>
                        <arg name="test_argument" value="hello" />

                        <include file="$(find rosmon_core)/test/basic_sub.launch">
                                <arg name="test_argument" default="$(arg test_argument)" />
                        </include>
                </launch>
        )EOF");

        config.evaluateParameters();

        auto params = config.parameters();

        CHECK(getTypedParam<std::string>(params, "/test_argument") == "hello");

        CAPTURE(warnings.str());
        CHECK(warnings.str().find("default") != std::string::npos);
}

TEST_CASE("include pass_all", "[include]")
{
        LaunchConfig config;
        config.parseString(R"EOF(
                <launch>
                        <arg name="test_argument" value="hello" />

                        <include file="$(find rosmon_core)/test/basic_sub.launch" pass_all_args="true" />
                </launch>
        )EOF");

        config.evaluateParameters();

        auto params = config.parameters();

        CHECK(getTypedParam<std::string>(params, "/test_argument") == "hello");
}

TEST_CASE("include scoped attributes", "[include]")
{
        LaunchConfig config;
        config.parseString(R"EOF(
                <launch>
                        <include file="$(find rosmon_core)/test/basic_sub.launch"
                                enable-coredumps="false" rosmon-memory-limit="100" rosmon-stop-timeout="10.0" />
                </launch>
        )EOF");

        config.evaluateParameters();

        auto nodes = config.nodes();
        CAPTURE(nodes);

        auto n = getNode(nodes, "test_node");
        CHECK(!n->coredumpsEnabled());
        CHECK(n->memoryLimitByte() == 100);
        CHECK(n->stopTimeout() == Approx(10.0));
}