44 lines
1.4 KiB
Python
44 lines
1.4 KiB
Python
import importlib.util
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from pathlib import Path
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import pytest
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from launch import LaunchContext
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from launch.actions import DeclareLaunchArgument, Shutdown
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from launch.utilities import perform_substitutions
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MODULE_PATH = Path(__file__).parents[1] / "launch" / "arm_debug.launch.py"
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SPEC = importlib.util.spec_from_file_location("arm_debug_launch", MODULE_PATH)
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arm_debug_launch = importlib.util.module_from_spec(SPEC)
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assert SPEC.loader is not None
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SPEC.loader.exec_module(arm_debug_launch)
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def test_launch_declares_mujoco_disabled_by_default() -> None:
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description = arm_debug_launch.generate_launch_description()
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arguments = {
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entity.name: entity
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for entity in description.entities
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if isinstance(entity, DeclareLaunchArgument)
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}
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assert "use_mujoco" in arguments
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assert perform_substitutions(
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LaunchContext(),
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arguments["use_mujoco"].default_value,
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) == "false"
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def test_mujoco_mode_requires_both_arms() -> None:
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arm_debug_launch._validate_mujoco_mode("both", True)
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arm_debug_launch._validate_mujoco_mode("left", False)
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with pytest.raises(ValueError, match="arm:=both"):
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arm_debug_launch._validate_mujoco_mode("left", True)
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def test_udp_receiver_exit_shuts_down_launch() -> None:
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receiver = arm_debug_launch._udp_receiver_node()
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assert isinstance(receiver._ExecuteLocal__on_exit, Shutdown)
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