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[execute_process] emulate_tty configurable and defaults to true (ros2…
…#265) * [execute_process] emulate_tty now configurable and defaults to true Signed-off-by: Daniel Stonier <[email protected]> * [examples] do not emulate ttys Signed-off-by: Daniel Stonier <[email protected]> * trivial Signed-off-by: Daniel Stonier <[email protected]> * test for emulate_tty configuration Signed-off-by: Daniel Stonier <[email protected]> * copyright Signed-off-by: Daniel Stonier <[email protected]> * attempted flake8 fixes Signed-off-by: Daniel Stonier <[email protected]> * Fix flake8 errors. Signed-off-by: Chris Lalancette <[email protected]> * guard for windows (#1) Signed-off-by: Daniel Stonier <[email protected]> * linting, fix quotes on strings Signed-off-by: Daniel Stonier <[email protected]> * drop the warning and guard, lean on the graceful degradation as recommended in review Signed-off-by: Daniel Stonier <[email protected]>
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#!/usr/bin/env python3 | ||
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# Copyright 2019 Open Source Robotics Foundation, Inc. | ||
# | ||
# 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. | ||
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""" | ||
Script that demonstrates disabling tty emulation. | ||
This is most significant for python processes which, without tty | ||
emulation, will be buffered by default and have various other | ||
capabilities disabled." | ||
""" | ||
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import os | ||
import sys | ||
from typing import cast | ||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..')) # noqa | ||
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import launch | ||
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def generate_launch_description(): | ||
ld = launch.LaunchDescription() | ||
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# Disable tty emulation (on by default). | ||
ld.add_action(launch.actions.SetLaunchConfiguration('emulate_tty', 'false')) | ||
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# Wire up stdout from processes | ||
def on_output(event: launch.Event) -> None: | ||
for line in event.text.decode().splitlines(): | ||
print('[{}] {}'.format( | ||
cast(launch.events.process.ProcessIO, event).process_name, line)) | ||
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ld.add_action(launch.actions.RegisterEventHandler(launch.event_handlers.OnProcessIO( | ||
on_stdout=on_output, | ||
))) | ||
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# Execute | ||
ld.add_action(launch.actions.ExecuteProcess( | ||
cmd=[sys.executable, './counter.py'] | ||
)) | ||
return ld | ||
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if __name__ == '__main__': | ||
# ls = LaunchService(argv=argv, debug=True) # Use this instead to get more debug messages. | ||
ls = launch.LaunchService(argv=sys.argv[1:]) | ||
ls.include_launch_description(generate_launch_description()) | ||
sys.exit(ls.run()) |
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# Copyright 2019 Open Source Robotics Foundation, Inc. | ||
# | ||
# 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. | ||
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"""Tests for emulate_tty configuration of ExecuteProcess actions.""" | ||
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import platform | ||
import sys | ||
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import launch | ||
import pytest | ||
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class OnExit(object): | ||
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def __init__(self): | ||
self.returncode = None | ||
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def handle(self, event, context): | ||
self.returncode = event.returncode | ||
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def tty_expected_unless_windows(): | ||
return 1 if platform.system() != 'Windows' else 0 | ||
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@pytest.mark.parametrize('test_input,expected', [ | ||
# use the default defined by ExecuteProcess | ||
(None, tty_expected_unless_windows()), | ||
# redundantly override the default via LaunchConfiguration | ||
('true', tty_expected_unless_windows()), | ||
# override the default via LaunchConfiguration | ||
('false', 0) | ||
]) | ||
def test_emulate_tty(test_input, expected): | ||
on_exit = OnExit() | ||
ld = launch.LaunchDescription() | ||
ld.add_action(launch.actions.ExecuteProcess( | ||
cmd=[sys.executable, | ||
'-c', | ||
'import sys; sys.exit(sys.stdout.isatty())' | ||
] | ||
) | ||
) | ||
if test_input is not None: | ||
ld.add_action( | ||
launch.actions.SetLaunchConfiguration( | ||
'emulate_tty', | ||
test_input | ||
) | ||
) | ||
ld.add_action( | ||
launch.actions.RegisterEventHandler( | ||
launch.event_handlers.OnProcessExit(on_exit=on_exit.handle) | ||
) | ||
) | ||
ls = launch.LaunchService() | ||
ls.include_launch_description(ld) | ||
ls.run() | ||
assert on_exit.returncode == expected |