Clean up rostest (#101)

ros/test.py.tpl

@@ -6,6 +6,7 @@ from third_party.ros.rostest import rostest_main
 test_outputs_dir = os.environ['TEST_UNDECLARED_OUTPUTS_DIR']
 os.environ['ROS_LOG_DIR'] = test_outputs_dir
 os.environ['ROS_TEST_RESULTS_DIR'] = test_outputs_dir
+os.environ['ROS_HOSTNAME'] = 'localhost'
 
 LAUNCH_FILE = {launch_file}
 

third_party/ros/rostest/rostest_main.py

@@ -90,27 +90,8 @@ def rostestmain():
                       dest='results_filename',
                       default=None,
                       help='results_filename')
-    parser.add_option(
-        '-r',
-        '--reuse-master',
-        action='store_true',
-        help=
-        'Connect to an existing ROS master instead of spawning a new ROS master on a custom port'
-    )
-    parser.add_option(
-        '-c',
-        '--clear',
-        action='store_true',
-        help=
-        'Clear all parameters when connecting to an existing ROS master (only works with --reuse-master)'
-    )
     (options, args) = parser.parse_args()
 
-    if options.clear and not options.reuse_master:
-        print('The --clear option is only valid with --reuse-master',
-              file=sys.stderr)
-        sys.exit(1)
-
     try:
         args = roslaunch.rlutil.resolve_launch_arguments(args)
     except roslaunch.core.RLException as e:
@@ -149,8 +130,7 @@ def rostestmain():
             results_file)
 
     try:
-        testCase = runner.createUnitTest(test_file, options.reuse_master,
-                                         options.clear, results_dir)
+        testCase = runner.createUnitTest(test_file, results_dir)
         suite = unittest.TestLoader().loadTestsFromTestCase(testCase)
 
         if options.text_mode:

third_party/ros/rostest/rostest_parent.py

@@ -33,7 +33,6 @@
 # Revision $Id$
 # pylint: disable=raise-missing-from,consider-using-f-string,invalid-name
 # pylint: disable=line-too-long
-import rosgraph
 from rosmaster.master import Master
 
 from third_party.ros.roslaunch import core
@@ -42,50 +41,17 @@
 
 class ROSTestLaunchParent(parent.ROSLaunchParent):
 
-    def __init__(self,
-                 config,
-                 roslaunch_files,
-                 port=0,
-                 reuse_master=False,
-                 clear=False):
+    def __init__(self, config, roslaunch_files, port=0):
         if config is None:
             raise Exception('config not initialized')
         # we generate a run_id for each test
-        if reuse_master:
-            param_server = rosgraph.Master('/roslaunch')
-            try:
-                run_id = param_server.getParam('/run_id')
-            except Exception as e:
-                # The user asked us to connect to an existing ROS master, and
-                # we can't. Throw an exception and die
-                raise Exception('Could not connect to existing ROS master. ' +
-                                'Original exception was: %s' % str(e))
-            except:
-                # oh boy; we got something that wasn't an exception.
-                # Throw an exception and die
-                raise Exception('Could not connect to existing ROS master.')
-
-            if clear:
-                params = param_server.getParamNames()
-                # whitelist of parameters to keep
-                whitelist = ['/run_id', '/rosversion', '/rosdistro']
-                for i in reversed(range(len(params))):
-                    param = params[i]
-                    if param in whitelist:
-                        del params[i]
-                    elif param.startswith('/roslaunch/'):
-                        del params[i]
-                for param in params:
-                    param_server.deleteParam(param)
-        else:
-            run_id = core.generate_run_id()
+        run_id = core.generate_run_id()
         super(ROSTestLaunchParent, self).__init__(run_id,
                                                   roslaunch_files,
                                                   is_core=False,
                                                   is_rostest=True)
         self.config = config
         self.port = port
-        self.reuse_master = reuse_master
         self.master = None
 
     def _load_config(self):
@@ -97,10 +63,9 @@ def setUp(self):
         initializes self.config and xmlrpc infrastructure
         """
         self._start_infrastructure()
-        if not self.reuse_master:
-            self.master = Master(port=self.port)
-            self.master.start()
-            self.config.master.uri = self.master.uri
+        self.master = Master(port=self.port)
+        self.master.start()
+        self.config.master.uri = self.master.uri
         self._init_runner()
 
     def tearDown(self):

third_party/ros/rostest/runner.py

@@ -211,9 +211,7 @@ def setUp(self):
     # new test_parent for each run. we are a bit inefficient as it would be possible to
     # reuse the roslaunch base infrastructure for each test, but the roslaunch code
     # is not abstracted well enough yet
-    self.test_parent = ROSTestLaunchParent(self.config, [self.test_file],
-                                           reuse_master=self.reuse_master,
-                                           clear=self.clear)
+    self.test_parent = ROSTestLaunchParent(self.config, [self.test_file])
 
     printlog('setup[%s] run_id[%s] starting', self.test_file,
              self.test_parent.run_id)
@@ -239,10 +237,7 @@ def tearDown(self):
     printlog('rostest teardown %s complete', self.test_file)
 
 
-def createUnitTest(test_file,
-                   reuse_master=False,
-                   clear=False,
-                   results_base_dir=None):
+def createUnitTest(test_file, results_base_dir=None):
     """
     Unit test factory. Constructs a unittest class based on the roslaunch
 
@@ -259,8 +254,6 @@ def createUnitTest(test_file,
         'config': config,
         'test_parent': None,
         'test_file': test_file,
-        'reuse_master': reuse_master,
-        'clear': clear
     }
 
     # add in the tests