251 lines
13 KiB
Python
251 lines
13 KiB
Python
#!/usr/bin/env python3
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"""Generated Navigate messages + real DDS + production C++ RosDriver regression.
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In a sourced ROS Humble overlay:
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python3 tests/helpers/native_navigation_contract.py --build-native --output /tmp/nav-contract
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An external temporary CMake project compiles the existing production driver/core;
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no ROS package CMake or installed executable is modified. All endpoints use a
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unique /sim namespace. This is contract evidence, not physical navigation evidence.
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"""
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import argparse
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from collections import Counter
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from copy import deepcopy
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import json
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import os
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from pathlib import Path
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import subprocess
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import tempfile
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import threading
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import time
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def build_native(root, directory):
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directory.mkdir(parents=True, exist_ok=True)
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# Paths are CMake quoted so workspace names containing spaces remain valid.
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q = lambda p: '"' + str(p).replace('\\', '/').replace('"', '\\"') + '"'
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(directory / 'CMakeLists.txt').write_text('''cmake_minimum_required(VERSION 3.16)
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project(native_navigation_probe LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(bt_skill_interfaces REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(nlohmann_json REQUIRED)
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add_executable(native_navigation_probe %s %s %s)
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target_include_directories(native_navigation_probe PRIVATE %s %s)
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target_link_libraries(native_navigation_probe nlohmann_json::nlohmann_json)
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ament_target_dependencies(native_navigation_probe rclcpp rclcpp_action bt_skill_interfaces geometry_msgs std_msgs)
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''' % tuple(q(root / p) for p in (
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'ros2/bt_executor/tools/native_navigation_probe.cpp',
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'ros2/bt_executor/src/ros_driver.cpp', 'core/src/core.cpp',
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'ros2/bt_executor/include', 'core/include')), encoding='utf-8')
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subprocess.run(['cmake', '-S', str(directory), '-B', str(directory / 'build')], check=True)
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subprocess.run(['cmake', '--build', str(directory / 'build'), '-j2'], check=True)
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return directory / 'build/native_navigation_probe'
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def wait(future, timeout=12):
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until = time.monotonic() + timeout
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while not future.done() and time.monotonic() < until:
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time.sleep(.01)
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assert future.done(), 'ROS future timed out'
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return future.result()
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def run(binary, output):
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import rclpy
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from rclpy.node import Node
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from rclpy.action import ActionClient, ActionServer, CancelResponse
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.executors import MultiThreadedExecutor
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from bt_skill_interfaces.action import Navigate
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from bt_skill_interfaces.msg import NavigationResult
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from action_msgs.msg import GoalStatus
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assert [getattr(NavigationResult, name) for name in
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('SUCCEEDED', 'CANCELED', 'TIMEOUT', 'BLOCKED', 'NOT_READY', 'FAILED')] == list(range(6))
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assert [getattr(Navigate.Feedback, name) for name in
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('ACCEPTED', 'CHECKING', 'NAVIGATING', 'BLOCKED', 'STOPPING')] == list(range(5))
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assert set(Navigate.Goal.get_fields_and_field_types()) == {
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'trace', 'target_pose', 'position_tolerance', 'yaw_tolerance', 'timeout'}
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assert set(Navigate.Result.get_fields_and_field_types()) == {
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'result', 'final_pose_valid', 'final_pose', 'final_position_error', 'final_yaw_error'}
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assert set(Navigate.Feedback.get_fields_and_field_types()) == {
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'stamp', 'sequence', 'phase', 'current_pose_valid', 'current_pose', 'error_valid',
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'position_error', 'yaw_error', 'blocked', 'elapsed_time', 'message'}
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namespace = '/sim/navigation_contract_' + str(os.getpid())
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rclpy.init()
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node = Node('navigation_contract_fixture', namespace=namespace)
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counts = Counter()
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failures = []
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lock = threading.Lock()
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def execute(handle):
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goal = handle.request
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scenario = round(goal.target_pose.pose.position.x)
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status = scenario if scenario < 6 else {6: 1, 7: 3, 8: 4}[scenario]
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with lock:
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counts[(goal.trace.task_id, scenario)] += 1
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try:
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assert goal.target_pose.header.frame_id == 'map'
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assert goal.target_pose.pose.orientation.w == 1.
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assert goal.position_tolerance == .05 and goal.yaw_tolerance == .1
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assert goal.timeout.sec == 5
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assert goal.trace.attempt == 1 and goal.trace.task_revision == 1
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assert goal.trace.plan_version == 1 and goal.trace.execution_generation == 1
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except AssertionError:
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failures.append('Goal contract mismatch: ' + str(goal))
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for phase in range(5):
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feedback = Navigate.Feedback()
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feedback.stamp = node.get_clock().now().to_msg()
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feedback.sequence = phase + 1
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feedback.phase = phase
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feedback.current_pose_valid = True
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feedback.current_pose = goal.target_pose
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feedback.error_valid = True
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feedback.position_error = .02
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feedback.yaw_error = -.03
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feedback.blocked = phase == Navigate.Feedback.BLOCKED
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feedback.elapsed_time.nanosec = (phase + 1) * 10000000
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feedback.message = 'phase-' + str(phase)
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handle.publish_feedback(feedback)
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time.sleep(.03)
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if phase == 2 and goal.trace.task_id.startswith('probe-'):
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# A later malformed sample must not poison the accepted sequence.
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wrong_frame = deepcopy(feedback)
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wrong_frame.sequence = 100
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wrong_frame.current_pose.header.frame_id = 'odom'
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handle.publish_feedback(wrong_frame)
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wrong_phase = deepcopy(feedback)
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wrong_phase.sequence = 101
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wrong_phase.phase = 255
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handle.publish_feedback(wrong_phase)
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result = Navigate.Result()
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result.result.status = status
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result.result.error_code = '' if scenario in (7, 8) else 'FIXTURE_' + str(scenario)
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result.result.message = 'outcome-' + str(scenario)
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result.result.stop_state = 0 if scenario == 6 else 1
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result.result.stopped_at = node.get_clock().now().to_msg()
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result.result.stop_evidence_ref = '' if scenario == 6 else 'sim://navigation/stop'
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result.final_pose_valid = True
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result.final_pose = goal.target_pose
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result.final_position_error = .02
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result.final_yaw_error = -.03
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if status == 1:
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deadline = time.monotonic() + 6
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while not handle.is_cancel_requested and time.monotonic() < deadline:
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time.sleep(.01)
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if not handle.is_cancel_requested:
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failures.append('Canceled fixture never received cancellation')
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handle.abort()
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else:
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handle.canceled()
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elif status == 0:
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handle.succeed()
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else:
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handle.abort()
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return result
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server = ActionServer(node, Navigate, 'skills/navigate', execute_callback=execute,
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cancel_callback=lambda _: CancelResponse.ACCEPT,
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callback_group=ReentrantCallbackGroup())
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client = ActionClient(node, Navigate, 'skills/navigate', callback_group=ReentrantCallbackGroup())
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executor = MultiThreadedExecutor(num_threads=6)
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executor.add_node(node)
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thread = threading.Thread(target=executor.spin, daemon=True)
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thread.start()
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report = {'scope': 'simulation-only generated Navigate and production RosDriver over DDS',
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'namespace': namespace, 'direct': [], 'native': []}
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try:
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assert client.wait_for_server(timeout_sec=10)
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for scenario in range(9):
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goal = Navigate.Goal()
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goal.trace.task_id = 'direct-' + str(scenario)
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goal.trace.run_id = goal.trace.task_id
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goal.trace.subtask_id = 'navigate'
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goal.trace.attempt = goal.trace.task_revision = goal.trace.plan_version = goal.trace.execution_generation = 1
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goal.target_pose.header.frame_id = 'map'
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goal.target_pose.pose.position.x = float(scenario)
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goal.target_pose.pose.orientation.w = 1.
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goal.position_tolerance = .05
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goal.yaw_tolerance = .1
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goal.timeout.sec = 5
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feedback = []
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handle = wait(client.send_goal_async(goal, feedback_callback=lambda value: feedback.append(value.feedback)))
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assert handle.accepted
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if scenario in (1, 6):
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assert wait(handle.cancel_goal_async()).return_code == 0
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response = wait(handle.get_result_async())
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expected = scenario if scenario < 6 else {6: 1, 7: 3, 8: 4}[scenario]
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assert response.result.result.status == expected
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assert response.status == (GoalStatus.STATUS_SUCCEEDED if expected == 0 else
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GoalStatus.STATUS_CANCELED if expected == 1 else GoalStatus.STATUS_ABORTED)
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assert response.result.final_pose_valid
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assert response.result.final_pose.pose.position.x == float(scenario)
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assert response.result.final_position_error == .02 and response.result.final_yaw_error == -.03
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assert response.result.result.stop_state == (0 if scenario == 6 else 1)
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assert response.result.result.error_code == ('' if scenario in (7, 8) else 'FIXTURE_' + str(scenario))
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assert [f.phase for f in feedback] == list(range(5)), feedback
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assert [f.sequence for f in feedback] == list(range(1, 6))
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assert all(f.current_pose_valid and f.error_valid and f.position_error == .02 and
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f.yaw_error == -.03 and f.stamp.sec > 0 for f in feedback)
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assert feedback[3].blocked and not feedback[4].blocked
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report['direct'].append({'scenario': scenario, 'status': expected, 'feedback_phases': [f.phase for f in feedback]})
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for scenario, expected_code in enumerate((0, 2, 3, 1, 4, 1, 2, 1, 4)):
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state = output / ('state-' + str(scenario))
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state.mkdir(exist_ok=True)
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completed = subprocess.run([str(binary), str(scenario), str(state), namespace],
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text=True, capture_output=True, timeout=25)
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(output / ('native-' + str(scenario) + '.log')).write_text(completed.stdout + completed.stderr)
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if completed.returncode != 0:
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report['passed'] = False
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report['failure'] = {'scenario': scenario, 'returncode': completed.returncode,
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'stdout': completed.stdout, 'stderr': completed.stderr,
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'log': str(output / ('native-' + str(scenario) + '.log'))}
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(output / 'navigation-contract-report.json').write_text(json.dumps(report, indent=2) + '\n')
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raise AssertionError('Native probe failed: ' + json.dumps(report['failure']))
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result = json.loads(next(line for line in reversed(completed.stdout.splitlines()) if line.startswith('{')))
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assert result['code'] == expected_code, result
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assert result['stop'] == (0 if scenario == 6 else 1), result
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assert result['state'] == (3 if scenario == 6 else 4), result
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assert result['robot_locked'] == (scenario == 6), result
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assert result['unknown_stop_blocks_redispatch'] == (scenario == 6), result
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assert result['error_code'] == ({7: 'NAV_BLOCKED', 8: 'NAV_NOT_READY'}.get(scenario, 'FIXTURE_' + str(scenario))), result
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assert result['feedback_sequence'] == 5, result
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assert json.loads(result['feedback'])['phase'] == 4, result
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assert result['mapping_count'] == 1 and result['wire_result_bytes'] > 0, result
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assert 'Navigate' in result['wire_request_type'] and 'Navigate' in result['wire_result_type'], result
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assert result['response_valid'], result
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report['native'].append(result)
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assert not failures, failures
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assert len(counts) == 18 and all(count == 1 for count in counts.values()), dict(counts)
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report['exactly_once_goal_count'] = sum(counts.values())
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report['passed'] = True
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(output / 'navigation-contract-report.json').write_text(json.dumps(report, indent=2) + '\n')
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print(json.dumps(report, indent=2))
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finally:
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executor.shutdown()
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thread.join(timeout=3)
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client.destroy()
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server.destroy()
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument('--root', type=Path, default=Path(__file__).resolve().parents[2])
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parser.add_argument('--output', type=Path, required=True)
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parser.add_argument('--native-probe', type=Path)
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parser.add_argument('--build-native', action='store_true')
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args = parser.parse_args()
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args.output = args.output.resolve()
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args.output.mkdir(parents=True, exist_ok=True)
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with tempfile.TemporaryDirectory(prefix='native-navigation-build-') as temporary:
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binary = build_native(args.root.resolve(), Path(temporary)) if args.build_native else args.native_probe
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if binary is None:
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parser.error('Supply --build-native or --native-probe')
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run(binary.resolve(), args.output)
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