Test rosidl translate extensions

Signed-off-by: Michel Hidalgo <[email protected]>

Author: hidmic

rosidl_adapter/test/data/action/Test.action

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+# goal definition
+bool bool_value
+byte byte_value
+char char_value
+float32 float32_value
+float64 float64_value
+int8 int8_value
+uint8 uint8_value
+int16 int16_value
+uint16 uint16_value
+int32 int32_value
+uint32 uint32_value
+int64 int64_value
+uint64 uint64_value
+string string_value
+---
+# result definition
+bool ok
+---
+# feedback definition
+int32[] sequence

rosidl_adapter/test/data/action/Test.expected.idl

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+// generated from rosidl_adapter/resource/action.idl.em
+// with input from test_msgs/action/Test.action
+// generated code does not contain a copyright notice
+
+
+module test_msgs {
+  module action {
+    @verbatim (language="comment", text=
+      " goal definition")
+    struct Test_Goal {
+      boolean bool_value;
+
+      octet byte_value;
+
+      uint8 char_value;
+
+      float float32_value;
+
+      double float64_value;
+
+      int8 int8_value;
+
+      uint8 uint8_value;
+
+      int16 int16_value;
+
+      uint16 uint16_value;
+
+      int32 int32_value;
+
+      uint32 uint32_value;
+
+      int64 int64_value;
+
+      uint64 uint64_value;
+
+      string string_value;
+    };
+    struct Test_Result {
+      @verbatim (language="comment", text=
+        " result definition")
+      boolean ok;
+    };
+    struct Test_Feedback {
+      @verbatim (language="comment", text=
+        " feedback definition")
+      sequence<int32> sequence;
+    };
+  };
+};

rosidl_adapter/test/data/msg/Test.expected.idl

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+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from test_msgs/msg/Test.msg
+// generated code does not contain a copyright notice
+
+
+module test_msgs {
+  module msg {
+    struct Test {
+      boolean bool_value;
+
+      octet byte_value;
+
+      uint8 char_value;
+
+      float float32_value;
+
+      double float64_value;
+
+      int8 int8_value;
+
+      uint8 uint8_value;
+
+      int16 int16_value;
+
+      uint16 uint16_value;
+
+      int32 int32_value;
+
+      uint32 uint32_value;
+
+      int64 int64_value;
+
+      uint64 uint64_value;
+    };
+  };
+};

rosidl_adapter/test/data/msg/Test.msg

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+bool bool_value
+byte byte_value
+char char_value
+float32 float32_value
+float64 float64_value
+int8 int8_value
+uint8 uint8_value
+int16 int16_value
+uint16 uint16_value
+int32 int32_value
+uint32 uint32_value
+int64 int64_value
+uint64 uint64_value

rosidl_adapter/test/data/srv/Test.expected.idl

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+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from test_msgs/srv/Test.srv
+// generated code does not contain a copyright notice
+
+
+module test_msgs {
+  module srv {
+    struct Test_Request {
+      boolean bool_value;
+
+      octet byte_value;
+
+      uint8 char_value;
+
+      float float32_value;
+
+      double float64_value;
+
+      int8 int8_value;
+
+      uint8 uint8_value;
+
+      int16 int16_value;
+
+      uint16 uint16_value;
+
+      int32 int32_value;
+
+      uint32 uint32_value;
+
+      int64 int64_value;
+
+      uint64 uint64_value;
+
+      string string_value;
+    };
+    struct Test_Response {
+      boolean ok;
+    };
+  };
+};

rosidl_adapter/test/data/srv/Test.srv

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+bool bool_value
+byte byte_value
+char char_value
+float32 float32_value
+float64 float64_value
+int8 int8_value
+uint8 uint8_value
+int16 int16_value
+uint16 uint16_value
+int32 int32_value
+uint32 uint32_value
+int64 int64_value
+uint64 uint64_value
+string string_value
+---
+bool ok

rosidl_adapter/test/test_cli_extensions.py

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import filecmp
+import pathlib
+
+from rosidl_cli.command.translate.api import translate
+
+
+DATA_PATH = pathlib.Path(__file__).parent / 'data'
+
+
+def test_translation_extensions(tmp_path, capsys):
+    # NOTE(hidmic): pytest and empy do not play along,
+    # the latter expects some proxy will stay in sys.stdout
+    # and the former insists in overwriting it
+
+    with capsys.disabled():  # so do everything in one run
+        # Test .msg to .idl translation
+        idl_files = translate(
+            package_name='test_msgs',
+            interface_files=[
+                f'{DATA_PATH}:msg/Test.msg'],
+            output_path=tmp_path,
+            output_format='idl',
+            translators=['msg2idl']
+        )
+
+        assert len(idl_files) == 1
+        idl_file = idl_files[0]
+        assert idl_file == f'{tmp_path}:msg/Test.idl'
+        assert filecmp.cmp(
+            tmp_path / 'msg' / 'Test.idl',
+            DATA_PATH / 'msg' / 'Test.expected.idl',
+            shallow=False
+        )
+
+        # Test .srv to .idl translation
+        idl_files = translate(
+            package_name='test_msgs',
+            interface_files=[
+                f'{DATA_PATH}:srv/Test.srv'],
+            output_path=tmp_path,
+            output_format='idl',
+            translators=['srv2idl']
+        )
+
+        assert len(idl_files) == 1
+        idl_file = idl_files[0]
+        assert idl_file == f'{tmp_path}:srv/Test.idl'
+        assert filecmp.cmp(
+            tmp_path / 'srv' / 'Test.idl',
+            DATA_PATH / 'srv' / 'Test.expected.idl',
+            shallow=False
+        )
+
+        # Test .action to .idl translation
+        idl_files = translate(
+            package_name='test_msgs',
+            interface_files=[
+                f'{DATA_PATH}:action/Test.action'],
+            output_path=tmp_path,
+            output_format='idl',
+            translators=['action2idl']
+        )
+
+        assert len(idl_files) == 1
+        idl_file = idl_files[0]
+        assert idl_file == f'{tmp_path}:action/Test.idl'
+        assert filecmp.cmp(
+            tmp_path / 'action' / 'Test.idl',
+            DATA_PATH / 'action' / 'Test.expected.idl',
+            shallow=False
+        )