fixup tests

Signed-off-by: William Woodall <william@osrfoundation.org>

launch/launch/actions/execute_process.py

@@ -14,6 +14,7 @@
 
 """Module for the ExecuteProcess action."""
 
+import platform
 import shlex
 from typing import Dict
 from typing import Iterable
@@ -34,6 +35,8 @@
 from ..substitution import Substitution
 from ..substitutions import TextSubstitution
 
+g_is_windows = 'win' in platform.system().lower()
+
 
 @expose_action('executable')
 class ExecuteProcess(ExecuteLocal):
@@ -266,7 +269,7 @@ def _append_arg():
  for sub in parser.parse_substitution(cmd):
  if isinstance(sub, TextSubstitution):
  try:
- tokens = shlex.split(sub.text)
+ tokens = shlex.split(sub.text, posix=(not g_is_windows))
  except Exception:
  logger = launch.logging.get_logger(cls.__name__)
  logger.error(f"Failed to parse token '{sub.text}' of cmd '{cmd}'")

launch/launch/descriptions/executable.py

@@ -18,6 +18,7 @@
 """Module for a description of an Executable."""
 
 import os
+import platform
 import re
 import shlex
 import threading
@@ -37,6 +38,7 @@
 
 _executable_process_counter_lock = threading.Lock()
 _executable_process_counter = 0 # in Python3, this number is unbounded (no rollover)
+g_is_windows = 'win' in platform.system().lower()
 
 
 class Executable:
@@ -179,7 +181,9 @@ def prepare(self, context: LaunchContext, action: Action):
  # Apply if filter regex matches (empty regex matches all strings)
  should_apply_prefix = re.match(prefix_filter, os.path.basename(cmd[0])) is not None
  if should_apply_prefix:
- cmd = shlex.split(perform_substitutions(context, self.__prefix)) + cmd
+ cmd = shlex.split(
+ perform_substitutions(context, self.__prefix), posix=(not g_is_windows)
+ ) + cmd
  self.__final_cmd = cmd
  name = os.path.basename(cmd[0]) if self.__name is None \
  else perform_substitutions(context, self.__name)

launch/launch/substitutions/command.py

@@ -14,7 +14,7 @@
 
 """Module for the Command substitution."""
 
-import os
+import platform
 import shlex
 import subprocess
 from typing import List
@@ -30,6 +30,8 @@
 from ..some_substitutions_type import SomeSubstitutionsType
 from ..substitution import Substitution
 
+g_is_windows = 'win' in platform.system().lower()
+
 
 @expose_substitution('command')
 class Command(Substitution):
@@ -94,10 +96,7 @@ def perform(self, context: LaunchContext) -> Text:
  from ..utilities import perform_substitutions # import here to avoid loop
  command_str = perform_substitutions(context, self.command)
  command: Union[str, List[str]]
- if os.name != 'nt':
- command = shlex.split(command_str)
- else:
- command = command_str
+ command = shlex.split(command_str, posix=(not g_is_windows))
  on_stderr = perform_substitutions(context, self.on_stderr)
  if on_stderr not in ('fail', 'ignore', 'warn', 'capture'):
  raise SubstitutionFailure(

launch_xml/test/launch_xml/test_executable.py

@@ -16,24 +16,34 @@
 
 import io
 import os
-from pathlib import Path
 import sys
-import textwrap
 
 from launch import LaunchService
 from launch.frontend import Parser
 
 import pytest
 
+test_executable_xml = f"""
+<launch>
+ <executable
+ cmd="{sys.executable} --version"
+ cwd="/" name="my_ls" shell="true" output="log"
+ emulate_tty="true" sigkill_timeout="4.0" sigterm_timeout="7.0"
+ launch-prefix="$(env LAUNCH_PREFIX '')"
+ >
+ <env name="var" value="1"/>
+ </executable>
+</launch>
+"""
+
 
 def test_executable():
  """Parse node xml example."""
- xml_file = str(Path(__file__).parent / 'executable.xml')
- root_entity, parser = Parser.load(xml_file)
+ root_entity, parser = Parser.load(io.StringIO(test_executable_xml))
  ld = parser.parse_description(root_entity)
  executable = ld.entities[0]
  cmd = [i[0].perform(None) for i in executable.cmd]
- assert cmd == ['ls', '-l', '-a', '-s']
+ assert cmd == [sys.executable, '--version']
  assert executable.cwd[0].perform(None) == '/'
  assert executable.name[0].perform(None) == 'my_ls'
  assert executable.shell is True
@@ -49,20 +59,21 @@ def test_executable():
  ls = LaunchService()
  ls.include_launch_description(ld)
  assert 0 == ls.run()
+ assert executable.return_code == 0
+
+
+test_executable_wrong_subtag_xml = """
+<launch>
+ <executable cmd="some_command --that-does-not-matter">
+ <env name="var" value="1"/>
+ <whats_this/>
+ </executable>
+</launch>
+"""
 
 
 def test_executable_wrong_subtag():
- xml_file = \
- """\
- <launch>
- <executable cmd="ls -l -a -s" cwd="/" name="my_ls" shell="true" output="log" launch-prefix="$(env LAUNCH_PREFIX '')">
- <env name="var" value="1"/>
- <whats_this/>
- </executable>
- </launch>
- """ # noqa, line too long
- xml_file = textwrap.dedent(xml_file)
- root_entity, parser = Parser.load(io.StringIO(xml_file))
+ root_entity, parser = Parser.load(io.StringIO(test_executable_wrong_subtag_xml))
  with pytest.raises(ValueError) as excinfo:
  parser.parse_description(root_entity)
  assert '`executable`' in str(excinfo.value)