Add test for nonunique node names

Signed-off-by: Emerson Knapp <[email protected]>

ros2node/ros2node/api/__init__.py

@@ -19,6 +19,10 @@
 from rclpy.node import HIDDEN_NODE_PREFIX
 from ros2cli.node.strategy import NodeStrategy
 
+INFO_NONUNIQUE_WARNING_TEMPLATE = (
+    'There are {num_nodes} nodes in the graph with the exact name "{node_name}". '
+    'You are seeing information about only one of them.'
+)
 
 NodeName = namedtuple('NodeName', ('name', 'namespace', 'full_name'))
 TopicInfo = namedtuple('Topic', ('name', 'types'))

ros2node/ros2node/verb/info.py

@@ -11,6 +11,7 @@
 # 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.
+import sys
 
 from ros2cli.node.direct import DirectNode
 from ros2cli.node.strategy import add_arguments
@@ -22,6 +23,7 @@
 from ros2node.api import get_service_client_info
 from ros2node.api import get_service_server_info
 from ros2node.api import get_subscriber_info
+from ros2node.api import INFO_NONUNIQUE_WARNING_TEMPLATE
 from ros2node.api import NodeNameCompleter
 from ros2node.verb import VerbExtension
 
@@ -48,9 +50,9 @@ def main(self, *, args):
             node_names = get_node_names(node=node, include_hidden_nodes=args.include_hidden)
         count = [n.full_name for n in node_names].count(args.node_name)
         if count > 1:
-            print('# WARNING: There are {} nodes in the graph with this exact name "{}". '
-                  'You are seeing information about only one of them.'.format(
-                    count, args.node_name))
+            print(
+                INFO_NONUNIQUE_WARNING_TEMPLATE.format(num_nodes=count, node_name=args.node_name),
+                file=sys.stderr)
         if count > 0:
             with DirectNode(args) as node:
                 print(args.node_name)

ros2node/test/test_cli_duplicate_node_names.py

@@ -0,0 +1,125 @@
+# Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
+import contextlib
+import os
+import sys
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.actions import OpaqueFunction
+
+from launch_ros.actions import Node
+
+import launch_testing
+import launch_testing.asserts
+import launch_testing.markers
+import launch_testing.tools
+import launch_testing_ros.tools
+
+import pytest
+
+from rmw_implementation import get_available_rmw_implementations
+from ros2node.api import INFO_NONUNIQUE_WARNING_TEMPLATE
+
+
+@pytest.mark.rostest
+@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
+def generate_test_description(rmw_implementation, ready_fn):
+    path_to_complex_node_script = os.path.join(
+        os.path.dirname(__file__), 'fixtures', 'complex_node.py'
+    )
+    additional_env = {'RMW_IMPLEMENTATION': rmw_implementation}
+    return LaunchDescription([
+        # Always restart daemon to isolate tests.
+        ExecuteProcess(
+            cmd=['ros2', 'daemon', 'stop'],
+            name='daemon-stop',
+            on_exit=[
+                ExecuteProcess(
+                    cmd=['ros2', 'daemon', 'start'],
+                    name='daemon-start',
+                    on_exit=[
+                        # Add test fixture actions.
+                        Node(
+                            node_executable=sys.executable,
+                            arguments=[path_to_complex_node_script],
+                            node_name='complex_node',
+                            additional_env=additional_env,
+                        ),
+                        Node(
+                            node_executable=sys.executable,
+                            arguments=[path_to_complex_node_script],
+                            node_name='complex_node',
+                            additional_env=additional_env,
+                        ),
+                        Node(
+                            node_executable=sys.executable,
+                            arguments=[path_to_complex_node_script],
+                            node_name='complex_node_2',
+                            additional_env=additional_env,
+                        ),
+                        OpaqueFunction(function=lambda context: ready_fn()),
+                    ],
+                    additional_env=additional_env
+                )
+            ]
+        ),
+    ])
+
+
+class TestROS2NodeCLIWithDuplicateNodeNames(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(
+        cls,
+        launch_service,
+        proc_info,
+        proc_output,
+        rmw_implementation
+    ):
+        @contextlib.contextmanager
+        def launch_node_command(self, arguments):
+            node_command_action = ExecuteProcess(
+                cmd=['ros2', 'node', *arguments],
+                additional_env={
+                    'RMW_IMPLEMENTATION': rmw_implementation,
+                    'PYTHONUNBUFFERED': '1'
+                },
+                name='ros2node-cli',
+                output='screen'
+            )
+            with launch_testing.tools.launch_process(
+                launch_service, node_command_action, proc_info, proc_output,
+                output_filter=launch_testing_ros.tools.basic_output_filter(
+                    # ignore launch_ros and ros2cli daemon nodes
+                    filtered_patterns=['.*launch_ros.*', '.*ros2cli.*'],
+                    filtered_rmw_implementation=rmw_implementation
+                )
+            ) as node_command:
+                yield node_command
+        cls.launch_node_command = launch_node_command
+
+    @launch_testing.markers.retry_on_failure(times=5, delay=1)
+    def test_info_warning(self):
+        with self.launch_node_command(arguments=['info', '/complex_node']) as node_command:
+            assert node_command.wait_for_shutdown(timeout=20)
+        assert node_command.exit_code == launch_testing.asserts.EXIT_OK
+        assert launch_testing.tools.expect_output(
+            expected_lines=[
+                INFO_NONUNIQUE_WARNING_TEMPLATE.format(num_nodes='2', node_name='/complex_node')
+            ],
+            text=node_command.output, strict=False
+        ), 'Output does not match:\n' + node_command.output