From 211b08d307f9104fe982fa13714432f7d52a2d75 Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Mon, 1 Apr 2019 12:23:58 -0300
Subject: [PATCH] Migrate rcl tests to new launch_testing API.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rcl/package.xml                               |  1 +
 .../cmake/rcl_add_custom_launch_test.cmake    |  8 ++-
 rcl/test/rcl/test_two_executables.py.in       | 50 ++++++++++++-------
 3 files changed, 40 insertions(+), 19 deletions(-)

diff --git a/rcl/package.xml b/rcl/package.xml
index cae0e9a61..db39a3a08 100644
--- a/rcl/package.xml
+++ b/rcl/package.xml
@@ -38,6 +38,7 @@
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>test_msgs</test_depend>
 
diff --git a/rcl/test/cmake/rcl_add_custom_launch_test.cmake b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
index 28553464d..d4d2e224d 100644
--- a/rcl/test/cmake/rcl_add_custom_launch_test.cmake
+++ b/rcl/test/cmake/rcl_add_custom_launch_test.cmake
@@ -15,6 +15,8 @@
 if(rcl_add_custom_launch_test_INCLUDED)
   return()
 endif()
+
+find_package(launch_testing_ament_cmake REQUIRED)
 set(rcl_add_custom_launch_test_INCLUDED TRUE)
 
 macro(rcl_add_custom_launch_test test_name executable1 executable2)
@@ -32,7 +34,11 @@ macro(rcl_add_custom_launch_test test_name executable1 executable2)
     OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test/${test_name}${target_suffix}_$<CONFIG>.py"
     INPUT "${CMAKE_CURRENT_BINARY_DIR}/${test_name}${target_suffix}.py.configure"
   )
-  ament_add_pytest_test(${test_name}${target_suffix} "${CMAKE_CURRENT_BINARY_DIR}/test/${test_name}${target_suffix}_$<CONFIG>.py" ${ARGN})
+  add_launch_test(
+    "${CMAKE_CURRENT_BINARY_DIR}/test/${test_name}${target_suffix}_$<CONFIG>.py"
+    TARGET ${test_name}${target_suffix}
+    ${ARGN}
+  )
   if(TEST ${test_name}${target_suffix})
     set_tests_properties(${test_name}${target_suffix} PROPERTIES DEPENDS "${executable1}${target_suffix} ${executable2}${target_suffix}")
   endif()
diff --git a/rcl/test/rcl/test_two_executables.py.in b/rcl/test/rcl/test_two_executables.py.in
index 76457f952..bc1615cce 100644
--- a/rcl/test/rcl/test_two_executables.py.in
+++ b/rcl/test/rcl/test_two_executables.py.in
@@ -1,35 +1,49 @@
 # generated from rcl/test/test_two_executables.py.in
 
+import os
+
 from launch import LaunchDescription
-from launch import LaunchService
 from launch.actions import ExecuteProcess
-from launch_testing.legacy import LaunchTestService
+from launch.actions import OpaqueFunction
+
+import launch_testing
+import launch_testing.asserts
+
+import unittest
 
 
-def @TEST_NAME@():
-    launch_test = LaunchTestService()
+def generate_test_description(ready_fn):
     launch_description = LaunchDescription()
 
-    launch_test.add_fixture_action(
-        launch_description, ExecuteProcess(
+    launch_description.add_action(
+        ExecuteProcess(
             cmd=['@TEST_EXECUTABLE1@'],
             name='@TEST_EXECUTABLE1_NAME@',
-        ), exit_allowed=True
+        )
     )
 
-    launch_test.add_test_action(
-        launch_description, ExecuteProcess(
-            cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
-            name='@TEST_EXECUTABLE2_NAME@',
-        )
+    executable_under_test = ExecuteProcess(
+        cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
+        name='@TEST_EXECUTABLE2_NAME@',
     )
+    launch_description.add_action(executable_under_test)
+
+    launch_description.add_action(
+        OpaqueFunction(function=lambda context: ready_fn())
+    )
+    return launch_description, locals()
+
+
+class TestTwoExecutables(unittest.TestCase):
 
-    launch_service = LaunchService()
-    launch_service.include_launch_description(launch_description)
-    rc = launch_test.run(launch_service)
+    def @TEST_NAME@(self, executable_under_test):
+        """Test that the executable under test terminates after a finite amount of time."""
+        self.proc_info.assertWaitForShutdown(process=executable_under_test, timeout=10)
 
-    assert rc == 0, "The launch file failed with exit code '" + str(rc) + "'. "
 
+@launch_testing.post_shutdown_test()
+class TestTwoExecutablesAfterShutdown(unittest.TestCase):
 
-if __name__ == '__main__':
-    @TEST_NAME@()
+    def @TEST_NAME@(self, executable_under_test):
+        """Test that the executable under test finished cleanly."""
+        launch_testing.asserts.assertExitCodes(self.proc_info, process=executable_under_test)