Module: Roby::Test::RobyAppHelpers

Defined in:
lib/roby/test/roby_app_helpers.rb

Overview

Helpers to test a full Roby app started as a subprocess

Defined Under Namespace

Classes: SpawnedProcess

Constant Summary collapse

ROBY_PORT_COMMANDS = 
%w[run].freeze
ROBY_NO_INTERFACE_COMMANDS = 
%w[wait check test].freeze

Instance Attribute Summary collapse

Instance Method Summary collapse

Instance Attribute Details

#app ⇒ Object (readonly)

Returns the value of attribute app.



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# File 'lib/roby/test/roby_app_helpers.rb', line 7

def app
  @app
end

#app_dir ⇒ Object (readonly)

Returns the value of attribute app_dir.



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# File 'lib/roby/test/roby_app_helpers.rb', line 7

def app_dir
  @app_dir
end

Instance Method Details

#app_helpers_source_dir(source_dir) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 483

def app_helpers_source_dir(source_dir)
    @helpers_source_dir = source_dir
end

#assert_process_exits(pid, timeout: 20) ⇒ Object

Wait for a subprocess to exit



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# File 'lib/roby/test/roby_app_helpers.rb', line 155

def assert_process_exits(pid, timeout: 20)
    deadline = Time.now + timeout
    while Time.now < deadline
        _, status = Process.waitpid2(pid, Process::WNOHANG)
        if status
            roby_app_join_capture_thread(pid)
            return status
        end

        sleep 0.01
    end

    if (output = roby_app_captured_output(pid))
        flunk(
            "process #{pid} did not quit within #{timeout} seconds\n" \
            "stdout=#{output[:out]}\n" \
            "stderr=#{output[:err]}"
        )
    else
        flunk("process #{pid} did not quit within #{timeout} seconds")
    end
end

#assert_roby_app_can_connect_to_log_server(timeout: 2, port: app.log_server_port) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 461

def assert_roby_app_can_connect_to_log_server(
    timeout: 2, port: app.log_server_port
)
    client = roby_app_with_polling(
        timeout: timeout,
        message: "connecting to the log server on port #{port}"
    ) do
        begin
            DRoby::Logfile::Client.new("localhost", port)
        rescue Interface::ConnectionError # rubocop:disable Lint/SuppressedException
        end
    end
    client.read_and_process_pending until client.init_done?
rescue StandardError
    # Give time to the log server to report errors before we
    # terminate it with SIGINT
    sleep 0.1
    raise
ensure
    client&.close
end

#assert_roby_app_exits(cmd, timeout: 20) ⇒ Object

Wait for the app to exit

Unlike #assert_roby_app_quits, this method does not explicitly call quit or send a SIGINT signal. The app is expected to quit by itself

See Also:



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# File 'lib/roby/test/roby_app_helpers.rb', line 185

def assert_roby_app_exits(cmd, timeout: 20)
    if cmd.respond_to?(:stop) # Aruba command
        cmd.stop
    else
        assert_process_exits(cmd, timeout: timeout)
    end
end

#assert_roby_app_has_job(interface, action_name, timeout: 2, state: Interface::JOB_STARTED) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 215

def assert_roby_app_has_job(
    interface, action_name, timeout: 2, state: Interface::JOB_STARTED
)
    start_time = Time.now
    while (Time.now - start_time) < timeout
        jobs = interface.find_all_jobs_by_action_name(action_name)
        jobs = jobs.find_all { |j| j.state == state } if state
        if (j = jobs.first)
            return j
        end

        sleep 0.01
    end
    flunk "timed out while waiting for action #{action_name} on #{interface}"
end

#assert_roby_app_is_running(pid, timeout: 20, host: "localhost", port: roby_app_helpers_default_interface_port) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 102

def assert_roby_app_is_running(
    pid, timeout: 20, host: "localhost",
    port: roby_app_helpers_default_interface_port
)
    start_time = Time.now
    while (Time.now - start_time) < timeout
        if ::Process.waitpid(pid, Process::WNOHANG)
            if (captured_output = roby_app_join_capture_thread(pid))
                flunk "Roby app unexpectedly quit\n" \
                      "stdout=#{captured_output[:out]}\n" \
                      "stderr=#{captured_output[:err]}"
            else
                flunk "Roby app unexpectedly quit"
            end
        end

        begin
            return roby_app_interface_module.connect_with_tcp_to(host, port)
        rescue Roby::Interface::ConnectionError # rubocop:disable Lint/SuppressedException
        end
        sleep 0.01
    end
    flunk "could not get a connection within #{timeout} seconds"
end

#assert_roby_app_quits(cmd, port: roby_app_helpers_default_interface_port, interface: nil) ⇒ Object

Call the quit command and wait for the app to exit

See Also:



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# File 'lib/roby/test/roby_app_helpers.rb', line 136

def assert_roby_app_quits(
    cmd, port: roby_app_helpers_default_interface_port, interface: nil
)
    pid =
        if cmd.respond_to?(:pid)
            cmd.pid
        else
            cmd
        end

    interface_owned = !interface
    interface ||= assert_roby_app_is_running(pid, port: port)
    interface.quit
    assert_roby_app_exits(cmd)
ensure
    interface&.close if interface_owned
end

#copy_into_app(template, target = template) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 487

def copy_into_app(template, target = template)
    FileUtils.mkdir_p File.join(app_dir, File.dirname(target))
    FileUtils.cp File.join(@helpers_source_dir, template),
                 File.join(app_dir, target)
end

#gen_app(app_dir = self.app_dir) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 62

def gen_app(app_dir = self.app_dir)
    require "roby/cli/gen_main"
    Dir.chdir(app_dir) { CLI::GenMain.start(["app", "--quiet"]) }
end

#kill_spawned_pids(pids = @spawned_pids.map(&:pid), signal: "INT", next_signal: "KILL", timeout: 5) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 33

def kill_spawned_pids(
    pids = @spawned_pids.map(&:pid),
    signal: "INT", next_signal: "KILL", timeout: 5
)
    pending_children = pids.find_all do |pid|
        begin
            Process.kill signal, pid
            true
        rescue Errno::ESRCH # rubocop:disable Lint/SuppressedException
        end
    end

    deadline = Time.now + timeout
    while Time.now < deadline
        pending_children.delete_if do |pid|
            Process.waitpid2(pid, Process::WNOHANG)
        end
        return if pending_children.empty?

        sleep 0.01
    end

    return if pending_children.empty?

    flunk("failed to stop #{pending_children}") unless next_signal

    kill_spawned_pids(pending_children, signal: next_signal, next_signal: nil)
end

#register_pid(pid) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 385

def register_pid(pid)
    @spawned_pids << SpawnedProcess.new(pid: pid)
end

#register_roby_plugin(path) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 289

def register_roby_plugin(path)
    @roby_plugin_path << path
end

#roby_app_allocate_interface_port ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 282

def roby_app_allocate_interface_port
    roby_app_allocate_port
end

#roby_app_allocate_port ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 275

def roby_app_allocate_port
    server = TCPServer.new(0)
    server.local_address.ip_port
ensure
    server&.close
end

#roby_app_call_interface(version: @roby_app_interface_version, host: "localhost", port: Interface::DEFAULT_PORT) {|client| ... } ⇒ Object

Create a client to the interface running in the test's current app

The method disconnects from the interface before returning

Yield Parameters:

Yield Returns:

  • (Object) —

    object returned by the method



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# File 'lib/roby/test/roby_app_helpers.rb', line 431

def roby_app_call_interface(
    version: @roby_app_interface_version,
    host: "localhost", port: Interface::DEFAULT_PORT
)
    client_thread = Thread.new do
        begin
            interface =
                roby_app_interface_module(version: version)
                .connect_with_tcp_to(host, port)
            result = yield(interface) if block_given?
        rescue Exception => e # rubocop:disable Lint/RescueException
            error = e
        end
        [interface, result, error]
    end
    while client_thread.alive?
        roby_app_shell_interface(version: version)
            .process_pending_requests
    end
    begin
        interface, result, error = client_thread.value
    rescue Exception => e # rubocop:disable Lint/RescueException
        raise e, e.message, e.backtrace + caller
    end
    interface.close
    raise error if error

    result
end

#roby_app_call_remote_interface(host: "localhost", port: Interface::DEFAULT_PORT) {|client| ... } ⇒ Object

Contact a remote interface and perform some action(s)

The method disconnects from the interface before returning

Yield Parameters:

Yield Returns:

  • (Object) —

    object returned by the method



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# File 'lib/roby/test/roby_app_helpers.rb', line 408

def roby_app_call_remote_interface(
    host: "localhost", port: Interface::DEFAULT_PORT
)
    interface = roby_app_interface_module.connect_with_tcp_to(host, port)
    yield(interface) if block_given?
ensure
    interface&.close
end

#roby_app_captured_output(pid) ⇒ nil, {out: String, err: String}

Return the output captured so far for the given PID

If the process has stopped and #roby_app_quit or #assert_roby_app_exits was called, the output is complete. Otherwise it might be partial

Returns:

  • (nil, {out: String, err: String}) —

    nil if the PID does not exist, or if roby_app_spawn was not configured to capture the output. Otherwise, a hash with the stdout and stderr strings



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# File 'lib/roby/test/roby_app_helpers.rb', line 201

def roby_app_captured_output(pid)
    return unless (spawned = @spawned_pids.find { |p| p.pid == pid })
    return unless (queue = spawned.capture_queue)

    outputs = spawned.captured_output
    until queue.empty?
        output, string = queue.pop
        outputs[output] << string
    end

    outputs.transform_values! { |arr| [arr.join] }
    outputs.transform_values(&:first)
end

#roby_app_create_logfile ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 394

def roby_app_create_logfile
    require "roby/droby/logfile/writer"
    logfile_dir = make_tmpdir
    logfile_path = File.join(logfile_dir, "logfile")
    writer = DRoby::Logfile::Writer.open(logfile_path)
    [logfile_path, writer]
end

#roby_app_fixture_path ⇒ Object

Path to the app test fixtures, that is test/app/fixtures



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# File 'lib/roby/test/roby_app_helpers.rb', line 249

def roby_app_fixture_path
    File.expand_path(
        File.join("..", "..", "..", "test", "app", "fixtures"),
        __dir__
    )
end

#roby_app_helpers_default_interface_port ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 127

def roby_app_helpers_default_interface_port
    return roby_interface_port if @interface_server

    Interface::DEFAULT_PORT
end

#roby_app_interface_module(version: @roby_app_interface_version) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 90

def roby_app_interface_module(version: @roby_app_interface_version)
    require "roby/interface/v#{version}"

    if version == 1
        Roby::Interface::V1
    elsif version == 2
        Roby::Interface::V2
    else
        raise ArgumentError, "invalid interface version #{version}"
    end
end

#roby_app_join_capture_thread(pid) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 231

def roby_app_join_capture_thread(pid)
    return unless (spawned = @spawned_pids.find { |p| p.pid == pid })
    return unless (thread = spawned.capture_thread)

    thread.join
    roby_app_captured_output(pid)
end

#roby_app_quit(interface, timeout: 2) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 239

def roby_app_quit(interface, timeout: 2)
    _, status = Process.waitpid2(pid)
    roby_app_join_capture_thread(pid)

    return if status.success?

    raise "roby app with PID #{pid} exited with nonzero status"
end

#roby_app_run(*args, port: nil, silent: false, **options) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 389

def roby_app_run(*args, port: nil, silent: false, **options)
    pid = roby_app_spawn(*args, port: port, silent: silent, **options)
    assert_roby_app_exits(pid)
end

#roby_app_setup_single_script(*scripts) ⇒ String

Create a minimal Roby application with a given list of scripts copied in scripts/

Parameters:

Returns:

  • (String) —

    the path to the app root



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# File 'lib/roby/test/roby_app_helpers.rb', line 262

def roby_app_setup_single_script(*scripts)
    dir = make_tmpdir
    FileUtils.mkdir_p File.join(dir, "config", "robots")
    FileUtils.mkdir_p File.join(dir, "scripts")
    FileUtils.touch File.join(dir, "config", "app.yml")
    FileUtils.touch File.join(dir, "config", "robots", "default.rb")
    scripts.each do |p|
        p = File.expand_path(p, roby_app_fixture_path)
        FileUtils.cp p, File.join(dir, "scripts")
    end
    dir
end

#roby_app_shell_interface(version: @roby_app_interface_version) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 417

def roby_app_shell_interface(version: @roby_app_interface_version)
    if version == 1
        app.shell_interface
    else
        app.shell_interface_v2
    end
end

#roby_app_spawn(command, *args, port: nil, capture_output: false, silent: false, env: {}, **options) ⇒ Integer

Spawn the roby app process

Returns:

  • (Integer) —

    the app PID



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# File 'lib/roby/test/roby_app_helpers.rb', line 340

def roby_app_spawn( # rubocop:disable Metrics/ParameterLists
    command, *args,
    port: nil, capture_output: false, silent: false, env: {}, **options
)
    if capture_output
        out_r, out_w = IO.pipe
        err_r, err_w = IO.pipe
        capture_queue = Queue.new
        capture_thread = roby_app_spawn_output_capture_thread(
            out_r, err_r, capture_queue
        )
        options[:out] = out_w
        options[:err] = err_w
    elsif silent
        options[:out] ||= "/dev/null"
        options[:err] ||= "/dev/null"
    end

    port_args = roby_app_spawn_interface_args(command, port)
    pid = spawn(
        { "ROBY_PLUGIN_PATH" => @roby_plugin_path.join(":") }.merge(env),
        roby_bin, command, *port_args, *args, chdir: app_dir, **options
    )
    out_w&.close
    err_w&.close
    @spawned_pids << SpawnedProcess.new(
        pid: pid,
        capture_thread: capture_thread,
        capture_queue: capture_queue,
        captured_output: { out: [], err: [] }
    )
    pid
end

#roby_app_spawn_interface_args(command, port) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Helper to determine the "right" interface-related arguments in #roby_app_spawn



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# File 'lib/roby/test/roby_app_helpers.rb', line 326

def roby_app_spawn_interface_args(command, port)
    port ||= roby_app_allocate_port
    if ROBY_PORT_COMMANDS.include?(command)
        ["--interface-versions=#{@roby_app_interface_version}",
         "--port-v#{@roby_app_interface_version}", port.to_s]
    elsif !ROBY_NO_INTERFACE_COMMANDS.include?(command)
        ["--interface-version=#{@roby_app_interface_version}",
         "--host", "localhost:#{port}"]
    end
end

#roby_app_spawn_output_capture_thread(out_r, err_r, queue) ⇒ Object

This method is part of a private API. You should avoid using this method if possible, as it may be removed or be changed in the future.

Start thread that pull data out of a process output pipes



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# File 'lib/roby/test/roby_app_helpers.rb', line 301

def roby_app_spawn_output_capture_thread(out_r, err_r, queue)
    ios = [out_r, err_r]
    Thread.new do
        until ios.empty?
            with_events, = select(ios, [], [])
            with_events.each do |io|
                unless (data = io.read_nonblock(4096))
                    raise EOFError
                end

                queue.push([io == out_r ? :out : :err, data])
            rescue EOFError
                ios.delete(io)
                io.close
            rescue IO::WaitReadable
                # Wait for more data
            end
        end
    end
end

#roby_app_start(*args, port: nil, silent: false, **options) ⇒ (Integer,Roby::Interface::Client)

Start the roby app, and wait for it to be ready

Returns:



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# File 'lib/roby/test/roby_app_helpers.rb', line 378

def roby_app_start(*args, port: nil, silent: false, **options)
    port ||= roby_app_allocate_port
    pid = roby_app_spawn(*args, port: port, silent: silent, **options)
    interface = assert_roby_app_is_running(pid, port: port)
    [pid, interface]
end

#roby_app_with_polling(timeout: 2, period: 0.01, message: nil) ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 74

def roby_app_with_polling(timeout: 2, period: 0.01, message: nil)
    start_time = Time.now
    while (Time.now - start_time) < timeout
        if (result = yield)
            return result
        end

        sleep period
    end
    if message
        flunk "#{message} did not happen within #{timeout} seconds"
    else
        flunk "failed to reach expected result within #{timeout} seconds"
    end
end

#roby_bin ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 67

def roby_bin
    File.expand_path(
        File.join("..", "..", "..", "bin", "roby"),
        __dir__
    )
end

#setup ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 9

def setup
    @roby_app_interface_version ||= 1
    @roby_plugin_path = []

    require "roby/interface/v#{@roby_app_interface_version}"

    @spawned_pids = []
    super
    @app = Roby::Application.new
    app.public_logs = false
    app.plugins_enabled = false
    @app_dir = make_tmpdir
    app.app_dir = app_dir
    register_plan(@app.plan)
end

#teardown ⇒ Object 



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# File 'lib/roby/test/roby_app_helpers.rb', line 25

def teardown
    app.stop_log_server
    app.stop_shell_interface
    app.cleanup if app.base_setup_done?
    kill_spawned_pids
    super
end