diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index abf7bd4c3f102f40f22b09b85c5334b87ae41cb4..0074c360ccabe08fb5b64a4b0b09e4ddd467fba5 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,15 +1,43 @@
-# See https://pre-commit.com for more information
-# See https://pre-commit.com/hooks.html for more hooks
+ci:
+ autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
- rev: v14.0.6
+ rev: v15.0.7
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
- rev: v3.2.0
+ rev: v4.4.0
hooks:
- - id: trailing-whitespace
- - id: end-of-file-fixer
- - id: check-yaml
- id: check-added-large-files
+ - id: check-ast
+ - id: check-executables-have-shebangs
+ - id: check-json
+ - id: check-merge-conflict
+ - id: check-symlinks
+ - id: check-toml
+ - id: check-yaml
+ - id: debug-statements
+ - id: destroyed-symlinks
+ - id: detect-private-key
+ - id: end-of-file-fixer
+ - id: fix-byte-order-marker
+ - id: mixed-line-ending
+ - id: trailing-whitespace
+- repo: https://github.com/psf/black
+ rev: 22.12.0
+ hooks:
+ - id: black
+- repo: https://github.com/charliermarsh/ruff-pre-commit
+ rev: v0.0.259
+ hooks:
+ - id: ruff
+ args: [--fix, --exit-non-zero-on-fix]
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+ rev: v0.6.13
+ hooks:
+ - id: cmake-format
+- repo: https://github.com/PyCQA/isort
+ rev: 5.12.0
+ hooks:
+ - id: isort
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c813255bd299c1652d5568909c8588f0709863c9..7112bcbc68970b89f15260f79b6dc97843bb04cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,9 +31,9 @@ include(cmake/ros.cmake)
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
-#if(NOT CMAKE_CXX_STANDARD)
+# if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
-#endif()
+# endif()
cmake_policy(SET CMP0057 NEW)
find_package(ament_cmake REQUIRED)
@@ -83,5 +83,5 @@ install(DIRECTORY include/ DESTINATION include)
# Install package information
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
-#ROS 2 packaging
+# ROS 2 packaging
ament_package()
diff --git a/README.md b/README.md
index 128c5ac7ef41b43a12d13c5a2db7f6f24c7b9964..c2f1ad09a59474e9a8a11efb35e4639cc009e03f 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,7 @@ dynamic-graph bindings
[](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge)
[](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/commits/master)
[](http://projects.laas.fr/gepetto/doc/stack-of-tasks/dynamic_graph_bridge/master/coverage/)
+[](https://github.com/charliermarsh/ruff)
This ROS package binds together the ROS framework with the
dynamic-graph real-time control architecture.
diff --git a/include/dynamic_graph_bridge/sot_loader.hh b/include/dynamic_graph_bridge/sot_loader.hh
index d2f3c68ab3eede858085f504da6683d4b86ee697..3b0ed29896166e259fa877065083c3c27e09ce7d 100644
--- a/include/dynamic_graph_bridge/sot_loader.hh
+++ b/include/dynamic_graph_bridge/sot_loader.hh
@@ -28,7 +28,7 @@
#include <thread>
// ROS includes
-//#include "ros/ros.h"
+// #include "ros/ros.h"
#include <tf2_ros/transform_broadcaster.h>
#include <sensor_msgs/msg/joint_state.hpp>
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f8f79ada1f0775a746fed7ba5a74030bec1dcd45
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,11 @@
+[tool.black]
+exclude = "cmake"
+
+[tool.ruff]
+exclude = ["cmake"]
+extend-ignore = ["D203", "D213"]
+extend-select = ["A", "B", "C", "COM", "D", "EM", "EXE", "G", "N", "PTH", "RET", "RUF", "UP", "W", "YTT"]
+target-version = "py310"
+
+[tool.isort]
+profile = "black"
diff --git a/scripts/remote_python_client.py b/scripts/remote_python_client.py
old mode 100644
new mode 100755
index 9732f36ac6deb587f5cfb1689ba05a726ab63124..2fb0432e77aa5c017dd8aaf4ab36d0646bb65dc8
--- a/scripts/remote_python_client.py
+++ b/scripts/remote_python_client.py
@@ -1,6 +1,6 @@
#!/usr/bin/env python
-"""@package dynamic_graph_bridge
+"""@package dynamic_graph_bridge.
@file
@license License BSD-3-Clause
@@ -11,15 +11,18 @@ embeded terminal.
"""
+import atexit
+import code
+
# Standard import.
import optparse
-import os.path
-import code
import os
-import sys
+import os.path
import readline
-import atexit
import signal
+import sys
+from pathlib import Path
+
import rclpy
# Used to connect to ROS services
@@ -28,9 +31,7 @@ from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
def signal_handler(sig, frame):
- """
- Catch Ctrl+C and quit.
- """
+ """Catch Ctrl+C and quit."""
print("")
print("You pressed Ctrl+C! Closing ros client and shell.")
rclpy.try_shutdown()
@@ -38,34 +39,33 @@ def signal_handler(sig, frame):
# Command history, auto-completetion and keyboard management
-python_history = os.path.join(os.environ["HOME"], ".dg_python_history")
+python_history = Path.join(os.environ["HOME"], ".dg_python_history")
readline.parse_and_bind("tab: complete")
readline.set_history_length(100000)
def save_history(histfile):
- """ Write the history of the user command in a file """
+ """Write the history of the user command in a file."""
readline.write_history_file(histfile)
"""
-Read the current history if it exists and program its save upon the program end.
+Read the current history if it exists and program
+its save upon the program end.
"""
if hasattr(readline, "read_history_file"):
try:
readline.read_history_file(python_history)
- except IOError:
+ except OSError:
pass
atexit.register(save_history, python_history)
class DynamicGraphInteractiveConsole(code.InteractiveConsole):
- """
- For the subtilities please read https://docs.python.org/3/library/code.html
- """
+ """For the subtilities please read https://docs.python.org/3/library/code.html."""
def __init__(self):
-
+ """Create interpreter in ROS for DG interactive console."""
# Create the python terminal
code.InteractiveConsole.__init__(self)
@@ -78,19 +78,19 @@ class DynamicGraphInteractiveConsole(code.InteractiveConsole):
readline.set_completer(self.dg_completer.complete)
def runcode(self, code):
- """
- Inherited from code.InteractiveConsole
+ """Inherited from code.InteractiveConsole.
- We execute the code pushed in the cache `self.lines_pushed`. The code is
- pushed whenever the user press enter during the interactive session.
+ We execute the code pushed in the cache `self.lines_pushed`.
+ The code is pushed whenever the user press enter during the
+ interactive session.
see https://docs.python.org/3/library/code.html
"""
try:
# we copy the line in a tmp var
code_string = self.lines_pushed[:-1]
- result = self.ros_python_interpreter.run_python_command(
- code_string
- )
+ rpi = self.ros_python_interpreter
+ result = rpi.run_python_command(code_string)
+
self.write(result)
if not result.endswith("\n"):
self.write("\n")
@@ -101,8 +101,7 @@ class DynamicGraphInteractiveConsole(code.InteractiveConsole):
return False
def runsource(self, source, filename="<input>", symbol="single"):
- """
- Inherited from code.InteractiveConsole
+ """Inherited from code.InteractiveConsole.
see https://docs.python.org/3/library/code.html
"""
@@ -110,8 +109,7 @@ class DynamicGraphInteractiveConsole(code.InteractiveConsole):
c = code.compile_command(source, filename, symbol)
if c:
return self.runcode(c)
- else:
- return True
+ return True
except SyntaxError:
self.showsyntaxerror()
self.lines_pushed = ""
@@ -123,11 +121,9 @@ class DynamicGraphInteractiveConsole(code.InteractiveConsole):
return False
def push(self, line):
- """
- Upon pressing enter in the interactive shell the user "push" a string.
- This method is then called with the string pushed.
- We catch the string to send it via the rosservice.
- """
+ """Upon pressing enter in the interactive shell the user "push" a string."""
+ """This method is then called with the string pushed.
+ We catch the string to send it via the rosservice."""
self.lines_pushed += line + "\n"
return code.InteractiveConsole.push(self, line)
@@ -142,14 +138,9 @@ if __name__ == "__main__":
if args[:]:
infile = args[0]
- response = dg_console.ros_python_interpreter.run_python_script(
- os.path.abspath(infile)
- )
- print(
- dg_console.ros_python_interpreter.run_python_command(
- "print('File parsed')"
- )
- )
+ rpi = dg_console.ros_python_interpreter
+ response = rpi.run_python_script(Path.abspath(infile))
+ print(rpi.run_python_command("print('File parsed')"))
signal.signal(signal.SIGINT, signal_handler)
dg_console.interact("Interacting with remote python server.")
diff --git a/setup.cfg b/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..15656840ec973b675dfc5cea3d568beb55c9cdcc
--- /dev/null
+++ b/setup.cfg
@@ -0,0 +1,4 @@
+[flake8]
+exclude = cmake
+max-line-length = 88
+extend-ignore = E203
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 222aa75f1552c1210fd052287ed58abda1d3241e..41a1402c498fa7588326f4ca1b9a01acfeba3d26 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -20,7 +20,8 @@ set(${PROJECT_NAME}_SOURCES
)
add_library(ros_bridge SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
-target_include_directories(ros_bridge
+target_include_directories(
+ ros_bridge
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(
@@ -52,19 +53,21 @@ endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
set(plugins ros_publish ros_subscribe)
foreach(plugin ${plugins})
get_filename_component(plugin_library_name ${plugin} NAME)
- add_library(${plugin_library_name} SHARED
- ${PROJECT_SOURCE_DIR}/src/${plugin}.cpp #
- ${PROJECT_SOURCE_DIR}/src/${plugin}.hpp #
+ add_library(
+ ${plugin_library_name} SHARED ${PROJECT_SOURCE_DIR}/src/${plugin}.cpp #
+ ${PROJECT_SOURCE_DIR}/src/${plugin}.hpp #
)
if(SUFFIX_SO_VERSION)
set_target_properties(${plugin_library_name} PROPERTIES SOVERSION
- ${PROJECT_VERSION})
+ ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
target_link_libraries(
- ${plugin_library_name} ${${plugin_library_name}_deps} ${catkin_LIBRARIES} ros_bridge
+ ${plugin_library_name} ${${plugin_library_name}_deps} ${catkin_LIBRARIES}
+ ros_bridge
dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs__rosidl_typesupport_cpp
)
- target_include_directories(${plugin_library_name}
+ target_include_directories(
+ ${plugin_library_name}
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/include)
if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
@@ -86,7 +89,8 @@ foreach(plugin ${plugins})
${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap MODULE_HEADER
"${CMAKE_CURRENT_SOURCE_DIR}/${plugin}-python.hh")
endif()
- target_include_directories(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
+ target_include_directories(
+ ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/include)
endif(BUILD_PYTHON_INTERFACE)
@@ -100,10 +104,11 @@ endif(BUILD_PYTHON_INTERFACE)
# Sot loader library
add_library(sot_loader sot_loader.cpp sot_loader_basic.cpp)
- target_link_libraries(
+target_link_libraries(
sot_loader Boost::program_options ${catkin_LIBRARIES} ros_bridge
dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs__rosidl_typesupport_cpp)
-target_include_directories(sot_loader
+target_include_directories(
+ sot_loader
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/include)
install(
@@ -114,10 +119,15 @@ install(
# Stand alone embedded intepreter with a robot controller.
add_executable(geometric_simu programs/geometric_simu.cpp)
target_link_libraries(
- geometric_simu Boost::program_options ${CMAKE_DL_LIBS} ${catkin_LIBRARIES}
- ros_bridge sot_loader
+ geometric_simu
+ Boost::program_options
+ ${CMAKE_DL_LIBS}
+ ${catkin_LIBRARIES}
+ ros_bridge
+ sot_loader
dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs__rosidl_typesupport_cpp)
-target_include_directories(geometric_simu
+target_include_directories(
+ geometric_simu
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/include)
install(TARGETS geometric_simu DESTINATION lib/${PROJECT_NAME})
diff --git a/src/dynamic_graph/ros/__init__.py b/src/dynamic_graph/ros/__init__.py
index 12ef9f7ed354606843d8e7a74c0a74659fd24904..f91e239768014bdb4efa309104eecdd397abc61c 100644
--- a/src/dynamic_graph/ros/__init__.py
+++ b/src/dynamic_graph/ros/__init__.py
@@ -1,4 +1,4 @@
-"""@package dynamic_graph_bridge
+"""@package dynamic_graph_bridge.
@file __init__.py
@author Maximilien Naveau (maximilien.naveau@gmail.com)
diff --git a/src/dynamic_graph/ros/dgcompleter.py b/src/dynamic_graph/ros/dgcompleter.py
index 7c4070893f7de0e86923c108234669f1beb3f8b7..d85e4bb0b0b06c3635eac4e05d8e613bb027422a 100644
--- a/src/dynamic_graph/ros/dgcompleter.py
+++ b/src/dynamic_graph/ros/dgcompleter.py
@@ -11,8 +11,8 @@ Tip: to use the tab key as the completion key, call
readline.parse_and_bind("tab: complete")
-Notes:
-
+Notes
+-----
- Exceptions raised by the completer function are *ignored* (and generally cause
the completion to fail). This is a feature -- since readline sets the tty
device in raw (or cbreak) mode, printing a traceback wouldn't work well
@@ -35,13 +35,14 @@ its input.
"""
-import ast
from dynamic_graph_bridge_cpp_bindings import RosPythonInterpreterClient
__all__ = ["DGCompleter"]
class DGCompleter:
+ """Auto completion for the embedded interpreter."""
+
def __init__(self, ros_python_interpreter_client=None):
"""Create a new completer for the command line.
@@ -66,7 +67,7 @@ class DGCompleter:
" local_completer=Completer()\n"
" import readline\n"
" readline.set_completer(local_completer.complete)\n"
- ' readline.parse_and_bind("tab: complete")'
+ ' readline.parse_and_bind("tab: complete")',
]
for python_command in cmd:
@@ -76,7 +77,9 @@ class DGCompleter:
self.buffer = []
def complete(self, text, state):
- """Return the next possible completion for 'text'.readline.parse_and_bind("tab: complete")
+ """Return the next possible completion."""
+ """ It returns the next possible completion
+ for 'text'.readline.parse_and_bind("tab: complete").
This is called successively with state == 0, 1, 2, ... until it
returns None. The completion should begin with 'text'.
diff --git a/src/dynamic_graph/ros/ros.py b/src/dynamic_graph/ros/ros.py
index ca9c4959dd66688e4b21fc482f11a5a51d0ab2cb..70cc2ccaecbae7d1db5882ed1bf7bb76b119a1ed 100644
--- a/src/dynamic_graph/ros/ros.py
+++ b/src/dynamic_graph/ros/ros.py
@@ -1,4 +1,4 @@
-"""@package dynamic_graph_bridge
+"""@package dynamic_graph_bridge.
@file ros.py
@author Maximilien Naveau (maximilien.naveau@gmail.com)
@@ -11,21 +11,20 @@ between ROS and the dynamic graph
"""
-from dynamic_graph import plug
-from dynamic_graph_bridge.dynamic_graph.ros_entities import RosPublish
-from dynamic_graph_bridge.dynamic_graph.ros_entities import RosSubscribe
+from dynamic_graph_bridge.dynamic_graph.ros_entities import RosPublish, RosSubscribe
-class Ros(object):
+class Ros:
+ """Store ros_publish and ros_subscribe."""
+
def __init__(self, device, suffix=""):
+ """Store objects needed for ROS."""
self.device = device
self.ros_publish = RosPublish("ros_publish" + suffix)
self.ros_subscribe = RosSubscribe("ros_subscribe" + suffix)
# make sure that the publishing is done by plugging the refresh
# (trigger) to the device periodic call system
- self.device.after.addDownsampledSignal(
- self.ros_publish.name + ".trigger", 1
- )
+ self.device.after.addDownsampledSignal(self.ros_publish.name + ".trigger", 1)
# not needed for self.ros_subscribe and self.ros_subscribe as they get
# the information from ROS, they do not have output signals
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 9d4a98d76cd1588244fbb9b98f36e4e8f07d2f49..720c139e1c87ef7632ca9d5cb934c35eaf331f61 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -11,23 +11,13 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
# Library for sot_external_interface
- add_library(impl_test_library
- SHARED
- impl_test_sot_external_interface.cpp
- impl_test_sot_mock_device.cpp)
+ add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp
+ impl_test_sot_mock_device.cpp)
- target_include_directories(impl_test_library
- PUBLIC include
- )
- target_link_libraries(impl_test_library
- PUBLIC sot-core::sot-core
- )
- ament_target_dependencies(impl_test_library PUBLIC
- dynamic_graph_bridge_msgs
- rclcpp
- rcl_interfaces
- std_srvs
- )
+ target_include_directories(impl_test_library PUBLIC include)
+ target_link_libraries(impl_test_library PUBLIC sot-core::sot-core)
+ ament_target_dependencies(impl_test_library PUBLIC dynamic_graph_bridge_msgs
+ rclcpp rcl_interfaces std_srvs)
# Executable for SotLoaderBasic test
add_executable(test_sot_loader_basic test_sot_loader_basic.cpp)
target_include_directories(
diff --git a/tests/launch/launching_test_sot_loader.py b/tests/launch/launching_test_sot_loader.py
index 10a97f5a8fe19e31a70b8c3995e3518d852670ad..cb713bc1cd455ffd70122b1e5e12886455a4a11b 100644
--- a/tests/launch/launching_test_sot_loader.py
+++ b/tests/launch/launching_test_sot_loader.py
@@ -11,29 +11,25 @@
# 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.
+"""Module to test sot_loader."""
-import os
-import sys
import unittest
-
-import ament_index_python
+from pathlib import Path
import launch
import launch.actions
-
import launch_testing
import launch_testing.actions
-from launch.substitutions import PathJoinSubstitution
-
+import pytest
+from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-
-import pytest
@pytest.mark.launch_test
def generate_test_description():
+ """Load a simple urdf, parameters and the library."""
ld = LaunchDescription()
robot_description_content_path = PathJoinSubstitution(
@@ -41,10 +37,11 @@ def generate_test_description():
get_package_share_directory("dynamic_graph_bridge"),
"urdf",
"dgb_minimal_robot.urdf",
- ]
+ ],
)
- robot_description_content = open(
- robot_description_content_path.perform(None)
+
+ robot_description_content = Path.open(
+ robot_description_content_path.perform(None),
).read()
params = {
@@ -66,20 +63,24 @@ def generate_test_description():
terminating_process,
launch_testing.util.KeepAliveProc(),
launch_testing.actions.ReadyToTest(),
- ]
+ ],
),
locals(),
)
class TestSotLoaderBasic(unittest.TestCase):
+ """Loads the sot_loader."""
+
def test_termination(self, terminating_process, proc_info):
+ """Calls the decorator generate_test_description."""
proc_info.assertWaitForShutdown(process=terminating_process, timeout=(10))
@launch_testing.post_shutdown_test()
class TestProcessOutput(unittest.TestCase):
+ """Handle the test result."""
+
def test_exit_code(self, proc_info):
- # Check that all processes in the launch (in this case, there's just one) exit
- # with code 0
+ """Check that all processes in the launch exit with code 0."""
launch_testing.asserts.assertExitCodes(proc_info)
diff --git a/tests/launch/launching_test_sot_loader_basic.py b/tests/launch/launching_test_sot_loader_basic.py
old mode 100755
new mode 100644
index 0d0b3b8876fa3e94e925bac7c45b8a974083fba8..5a6eba4d557d7748fb1e41453de9981fae5643b2
--- a/tests/launch/launching_test_sot_loader_basic.py
+++ b/tests/launch/launching_test_sot_loader_basic.py
@@ -11,32 +11,38 @@
# 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.
+"""Module to charge a urdf and run a sot_loader_basic class."""
-from pathlib import Path
import unittest
+from pathlib import Path
+
import launch
import launch.actions
import launch_testing
import launch_testing.actions
-from launch.substitutions import PathJoinSubstitution
+import pytest
+from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-import pytest
@pytest.mark.launch_test
def generate_test_description():
+ """Run a node in dynamic_graph_bridge package.
+
+ It also set parameters state_vector_map and robot_description
+ """
ld = LaunchDescription()
robot_description_content_path = (
- Path(get_package_share_directory("dynamic_graph_bridge")) /
- "urdf" /
- "dgb_minimal_robot.urdf"
+ Path(get_package_share_directory("dynamic_graph_bridge"))
+ / "urdf"
+ / "dgb_minimal_robot.urdf"
)
- assert(robot_description_content_path.exists())
- robot_description_content = open(
- PathJoinSubstitution(str(robot_description_content_path)).perform(None)
+ assert robot_description_content_path.exists()
+ robot_description_content = Path.open(
+ PathJoinSubstitution(str(robot_description_content_path)).perform(None),
).read()
terminating_process = Node(
package="dynamic_graph_bridge",
@@ -55,20 +61,24 @@ def generate_test_description():
terminating_process,
launch_testing.util.KeepAliveProc(),
launch_testing.actions.ReadyToTest(),
- ]
+ ],
),
locals(),
)
class TestSotLoaderBasic(unittest.TestCase):
+ """Main class to start the test."""
+
def test_termination(self, terminating_process, proc_info):
+ """Runs the generate_test_description() function."""
proc_info.assertWaitForShutdown(process=terminating_process, timeout=(10))
@launch_testing.post_shutdown_test()
class TestProcessOutput(unittest.TestCase):
+ """Class to handle the test result."""
+
def test_exit_code(self, proc_info):
- # Check that all processes in the launch (in this case, there's just one) exit
- # with code 0
+ """Check that all processes in the launch exit with code 0."""
launch_testing.asserts.assertExitCodes(proc_info)
diff --git a/tests/python_scripts/simple_add.py b/tests/python_scripts/simple_add.py
index 5d8b44e217dbbf707b6964198c7f2a5b719a783c..2cb34e111213fe46a7ded3babdf34d67be9bf6ec 100644
--- a/tests/python_scripts/simple_add.py
+++ b/tests/python_scripts/simple_add.py
@@ -1 +1,3 @@
-a = 1 + 1 +1
+"""Simple addition test."""
+
+a = 1 + 1 + 1
diff --git a/tests/python_scripts/simple_ros_publish.py b/tests/python_scripts/simple_ros_publish.py
index 93768af9ce38b83c70dc0d3500531976e9069b6e..3bdc9c80d838d7009e0bbd378be89dced2f21226 100644
--- a/tests/python_scripts/simple_ros_publish.py
+++ b/tests/python_scripts/simple_ros_publish.py
@@ -1,10 +1,14 @@
+"""Simple module to test interaction with the ROS 2 world."""
+
+from dynamic_graph import plug
from dynamic_graph.ros.ros_publish import RosPublish
+from dynamic_graph.ros.tests.impl_test_sot_mock_device import ImplTestSotMockDevice
# Create a topic from the SoT to the ROS world
ros_publish = RosPublish("rosPublish")
-name="control"
+name = "control"
ros_publish.add("vector", name + "_ros", name)
-device_sot_mock= ImplTestSotMockDevice("device_sot_mock")
-plug(device_sot_mock.control, ros_import.signal(name + "_ros"))
+device_sot_mock = ImplTestSotMockDevice("device_sot_mock")
+plug(device_sot_mock.control, ros_publish.signal(name + "_ros"))
diff --git a/tests/test_import.py b/tests/test_import.py
index b9195659641eac1ef888bfb8659ee812379ed5c0..461f6f296c2fc50ffa78323c45309871837cabd2 100755
--- a/tests/test_import.py
+++ b/tests/test_import.py
@@ -1,26 +1,27 @@
#!/usr/bin/env python
+"""Test import and simple addition."""
from dynamic_graph.ros import RosImport
-ri = RosImport('rosimport')
+ri = RosImport("rosimport")
-ri.add('double', 'doubleS', 'doubleT')
-ri.add('vector', 'vectorS', 'vectorT')
-ri.add('matrix', 'matrixS', 'matrixT')
+ri.add("double", "doubleS", "doubleT")
+ri.add("vector", "vectorS", "vectorT")
+ri.add("matrix", "matrixS", "matrixT")
-ri.doubleS.value = 42.
+ri.doubleS.value = 42.0
ri.vectorS.value = (
- 42.,
- 42.,
+ 42.0,
+ 42.0,
)
ri.matrixS.value = (
(
- 42.,
- 42.,
+ 42.0,
+ 42.0,
),
(
- 42.,
- 42.,
+ 42.0,
+ 42.0,
),
)
diff --git a/tests/test_ros_interpreter.cpp b/tests/test_ros_interpreter.cpp
index 0dfc919d861758248ade6909c71d7dd775374348..5ad5523143a2c8d79993b7841c2dab6b1997cd8b 100644
--- a/tests/test_ros_interpreter.cpp
+++ b/tests/test_ros_interpreter.cpp
@@ -204,10 +204,23 @@ TEST_F(TestRosInterpreter, test_call_run_command_standarderror) {
rpi.start_ros_service();
// Create and call the clients.
- std::string cmd = "a";
+ std::string cmd = "import sys;print(sys.path)";
std::string result = "";
std::string standarderror = "";
std::string standardoutput = "";
+ start_run_python_command_ros_service(cmd, result, standarderror,
+ standardoutput);
+ std::cout << "standard output:" << standardoutput << std::endl;
+
+ // Create and call the clients.
+ // std::string
+ cmd = "a";
+ // std::string
+ result = "";
+ // std::string
+ standarderror = "";
+ // std::string
+ standardoutput = "";
start_run_python_command_ros_service(cmd, result, standarderror,
standardoutput);
@@ -267,6 +280,8 @@ TEST_F(TestRosInterpreter, test_call_run_script_ros_publish) {
std::string file_name =
TEST_CONFIG_PATH + std::string("simple_ros_publish.py");
std::string result = "";
+ std::string standard_output = "";
+ std::string standard_error = "";
start_run_python_script_ros_service(file_name, result);
/* Tests. */