rosmsg: clean up test dependencies (#2103)

All dependencies must be declared in the package.xml, and all these
dependencies must be in the ROS distro. rosmsg doesn't meet either of
these requirements today, by using but not depending on both rostest and
std_srvs, and by using test_rosmaster, which isn't in the ROS distro at
all.

Update rosmsg to properly depend upon what it requires, and stop using
test_rosmaster completely. In place of test_rosmaster, use
diagnostic_msgs, which satisfies the same requirements of the existing
tests by having both messages and services as well as standalone and
recursive messages.

Signed-off-by: Kyle Fazzari <kyle@canonical.com>

tools/rosmsg/package.xml

@@ -36,7 +36,10 @@
   <exec_depend>rosbag</exec_depend>
   <exec_depend>roslib</exec_depend>
 
+  <test_depend>rostest</test_depend>
   <test_depend>std_msgs</test_depend>
+  <test_depend>std_srvs</test_depend>
+  <test_depend>diagnostic_msgs</test_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>

tools/rosmsg/test/DiagnosticStatus_raw.txt

@@ -0,0 +1,11 @@
+byte OK=0
+byte WARN=1
+byte ERROR=2
+byte STALE=3
+byte level
+string name
+string message
+string hardware_id
+diagnostic_msgs/KeyValue[] values
+  string key
+  string value

tools/rosmsg/test/msg/DiagnosticStatus.msg

@@ -0,0 +1,9 @@
+byte OK=0
+byte WARN=1
+byte ERROR=2
+byte STALE=3
+byte level
+string name
+string message
+string hardware_id
+diagnostic_msgs/KeyValue[] values

tools/rosmsg/test/msg/KeyValue.msg

@@ -0,0 +1,2 @@
+string key
+string value

tools/rosmsg/test/srv/AddDiagnostics.srv

@@ -0,0 +1,4 @@
+string load_namespace
+---
+bool success
+string message

tools/rosmsg/test/srv/SelfTest.srv

@@ -0,0 +1,15 @@
+---
+string id
+byte passed
+diagnostic_msgs/DiagnosticStatus[] status
+  byte OK=0
+  byte WARN=1
+  byte ERROR=2
+  byte STALE=3
+  byte level
+  string name
+  string message
+  string hardware_id
+  diagnostic_msgs/KeyValue[] values
+    string key
+    string value

tools/rosmsg/test/test_rosmsg.py

@@ -69,21 +69,21 @@ def test_get_msg_text(self):
         d = get_test_path()
         msg_d = os.path.join(d, 'msg')
 
-        test_message_package = 'test_rosmaster'
+        test_message_package = 'diagnostic_msgs'
         rospack = rospkg.RosPack()
         msg_raw_d = os.path.join(rospack.get_path(test_message_package), 'msg')
-        for t in ['RosmsgA', 'RosmsgB']:
-            with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
-                text = f.read()
-            with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
-                text_raw = f.read()
-                
-            type_ = test_message_package+'/'+t
-            self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
-            self.assertEquals(text_raw, rosmsg.get_msg_text(type_, raw=True))
+        t = 'KeyValue'
+        with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
+            text = f.read()
+        with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
+            text_raw = f.read()
+
+        type_ = test_message_package+'/'+t
+        self.assertEquals(text, rosmsg.get_msg_text(type_, raw=False))
+        self.assertEquals(text_raw, rosmsg.get_msg_text(type_, raw=True))
 
         # test recursive types
-        t = 'RosmsgC'
+        t = 'DiagnosticStatus'
         with open(os.path.join(d, '%s_raw.txt'%t), 'r') as f:
             text = f.read()
         with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
@@ -120,24 +120,26 @@ def test_list_types(self):
         # test msgs
         l = rosmsg.list_types('rospy', mode='.msg')
         self.assertEquals([], l)
-        l = rosmsg.list_types('test_rosmaster', mode='.msg')
-        for t in ['test_rosmaster/RosmsgA', 'test_rosmaster/RosmsgB', 'test_rosmaster/RosmsgC']:
+        l = rosmsg.list_types('diagnostic_msgs', mode='.msg')
+        for t in ['diagnostic_msgs/DiagnosticArray',
+                  'diagnostic_msgs/DiagnosticStatus',
+                  'diagnostic_msgs/KeyValue']:
             assert t in l
 
         l = rosmsg.list_types('rospy', mode='.srv')
         self.assertEquals([], l)        
-        l = rosmsg.list_types('test_rosmaster', mode='.srv')
-        for t in ['test_rosmaster/RossrvA', 'test_rosmaster/RossrvB']:
+        l = rosmsg.list_types('diagnostic_msgs', mode='.srv')
+        for t in ['diagnostic_msgs/AddDiagnostics', 'diagnostic_msgs/SelfTest']:
             assert t in l
 
     def test_get_srv_text(self):
         d = get_test_path()
         srv_d = os.path.join(d, 'srv')
 
-        test_srv_package = 'test_rosmaster'
+        test_srv_package = 'diagnostic_msgs'
         rospack = rospkg.RosPack()
         srv_raw_d = os.path.join(rospack.get_path(test_srv_package), 'srv')
-        for t in ['RossrvA', 'RossrvB']:
+        for t in ['AddDiagnostics', 'SelfTest']:
             with open(os.path.join(srv_d, '%s.srv'%t), 'r') as f:
                 text = f.read()
             with open(os.path.join(srv_raw_d, '%s.srv'%t), 'r') as f:

tools/rosmsg/test/test_rosmsg_command_line.py

@@ -75,7 +75,7 @@ def test_cmd_packages(self):
         l1 = [x for x in output1.split() if x]
         l2 = [x.strip() for x in output2.split('\n') if x.strip()]
         self.assertEquals(l1, l2)
-        for p in ['std_msgs', 'test_rosmaster']:
+        for p in ['std_msgs', 'diagnostic_msgs']:
             self.assert_(p in l1)
         for p in ['std_srvs', 'rosmsg']:
             self.assert_(p not in l1)
@@ -85,7 +85,7 @@ def test_cmd_packages(self):
         l1 = [x for x in output1.split() if x]
         l2 = [x.strip() for x in output2.split('\n') if x.strip()]
         self.assertEquals(l1, l2)
-        for p in ['std_srvs', 'test_rosmaster']:
+        for p in ['std_srvs', 'diagnostic_msgs']:
             self.assert_(p in l1)
         for p in ['std_msgs', 'rospy']:
             self.assert_(p not in l1)
@@ -94,7 +94,7 @@ def test_cmd_list(self):
         # - multi-line
         output1 = Popen([sys.executable, os.path.join(_SCRIPT_FOLDER,'rosmsg'), 'list'], stdout=PIPE).communicate()[0].decode()
         l1 = [x.strip() for x in output1.split('\n') if x.strip()]
-        for p in ['std_msgs/String', 'test_rosmaster/Floats']:
+        for p in ['std_msgs/String', 'diagnostic_msgs/DiagnosticArray']:
             self.assert_(p in l1)
         for p in ['std_srvs/Empty', 'roscpp/Empty']:
             self.assert_(p not in l1)
@@ -103,31 +103,31 @@ def test_cmd_list(self):
         l1 = [x.strip() for x in output1.split('\n') if x.strip()]
         for p in ['std_srvs/Empty', 'roscpp/Empty']:
             self.assert_(p in l1)
-        for p in ['std_msgs/String', 'test_rosmaster/Floats']:
+        for p in ['std_msgs/String', 'diagnostic_msgs/DiagnosticStatus']:
             self.assert_(p not in l1)
 
     def test_cmd_package(self):
         # this test is obviously very brittle, but should stabilize as the tests stabilize
         # - single line output
-        output1 = Popen(['rosmsg', 'package', '-s', 'test_rosmaster'], stdout=PIPE).communicate()[0].decode()
+        output1 = Popen(['rosmsg', 'package', '-s', 'diagnostic_msgs'], stdout=PIPE).communicate()[0].decode()
         # - multi-line output
-        output2 = Popen(['rosmsg', 'package', 'test_rosmaster'], stdout=PIPE).communicate()[0].decode()
+        output2 = Popen(['rosmsg', 'package', 'diagnostic_msgs'], stdout=PIPE).communicate()[0].decode()
         l = set([x for x in output1.split() if x])        
         l2 = set([x.strip() for x in output2.split('\n') if x.strip()])
         self.assertEquals(l, l2)
 
-        for m in ['test_rosmaster/RosmsgA',
-                  'test_rosmaster/RosmsgB',
-                  'test_rosmaster/RosmsgC']:
+        for m in ['diagnostic_msgs/DiagnosticArray',
+                  'diagnostic_msgs/DiagnosticStatus',
+                  'diagnostic_msgs/KeyValue']:
             self.assertTrue(m in l, l)
 
-        output = Popen(['rossrv', 'package', '-s', 'test_rosmaster'], stdout=PIPE).communicate()[0].decode()
-        output2 = Popen(['rossrv', 'package','test_rosmaster'], stdout=PIPE).communicate()[0].decode()
+        output = Popen(['rossrv', 'package', '-s', 'diagnostic_msgs'], stdout=PIPE).communicate()[0].decode()
+        output2 = Popen(['rossrv', 'package','diagnostic_msgs'], stdout=PIPE).communicate()[0].decode()
         l = set([x for x in output.split() if x])
         l2 = set([x.strip() for x in output2.split('\n') if x.strip()])
         self.assertEquals(l, l2)
 
-        for m in ['test_rosmaster/RossrvA', 'test_rosmaster/RossrvB']:
+        for m in ['diagnostic_msgs/AddDiagnostics', 'diagnostic_msgs/SelfTest']:
             self.assertTrue(m in l, l)
 
     ## test that the rosmsg/rossrv show command works
@@ -139,41 +139,41 @@ def test_cmd_show(self):
         self.assertEquals('---', output.strip())
         output = Popen(['rossrv', 'show', 'std_srvs/Empty'], stdout=PIPE).communicate()[0].decode()
         self.assertEquals('---', output.strip())
-        output = Popen(['rossrv', 'show', 'test_rosmaster/AddTwoInts'], stdout=PIPE).communicate()[0].decode()
-        self.assertEquals(os.linesep.join(['int64 a', 'int64 b', '---', 'int64 sum']), output.strip())
+        output = Popen(['rossrv', 'show', 'diagnostic_msgs/AddDiagnostics'], stdout=PIPE).communicate()[0].decode()
+        self.assertEquals('string load_namespace\n---\nbool success\nstring message', output.strip())
 
         # test against test_rosmsg package
         d = os.path.abspath(os.path.dirname(__file__))
         msg_d = os.path.join(d, 'msg')
 
-        test_message_package = 'test_rosmaster'
+        test_message_package = 'diagnostic_msgs'
         rospack = rospkg.RosPack()
         msg_raw_d = os.path.join(rospack.get_path(test_message_package), 'msg')
 
         # - test with non-recursive types
-        for t in ['RosmsgA', 'RosmsgB']:
-            with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
-                text = f.read()
-            with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
-                text_raw = f.read()
-            text = text.strip()
-            text_raw = text_raw.strip()
-            type_ =test_message_package+'/'+t
-            output = Popen(['rosmsg', 'show', type_], stdout=PIPE).communicate()[0].decode()
-            self.assertEquals(text, output.strip())
-            output = Popen(['rosmsg', 'show', '-r',type_], stdout=PIPE).communicate()[0].decode()
-            self.assertEquals(text_raw, output.strip())
-            output = Popen(['rosmsg', 'show', '--raw', type_], stdout=PIPE).communicate()[0].decode()
-            self.assertEquals(text_raw, output.strip())
+        t = 'KeyValue'
+        with open(os.path.join(msg_d, '%s.msg'%t), 'r') as f:
+            text = f.read()
+        with open(os.path.join(msg_raw_d, '%s.msg'%t), 'r') as f:
+            text_raw = f.read()
+        text = text.strip()
+        text_raw = text_raw.strip()
+        type_ =test_message_package+'/'+t
+        output = Popen(['rosmsg', 'show', type_], stdout=PIPE).communicate()[0].decode()
+        self.assertEquals(text, output.strip())
+        output = Popen(['rosmsg', 'show', '-r',type_], stdout=PIPE).communicate()[0].decode()
+        self.assertEquals(text_raw, output.strip())
+        output = Popen(['rosmsg', 'show', '--raw', type_], stdout=PIPE).communicate()[0].decode()
+        self.assertEquals(text_raw, output.strip())
 
-            # test as search
-            type_ = t
-            text_prefix = "[test_rosmaster/%s]:"%t
-            text = os.linesep.join([text_prefix, text])
-            text_raw = os.linesep.join([text_prefix, text_raw])
-            output = Popen(['rosmsg', 'show', type_], stdout=PIPE).communicate()[0].decode()
-            self.assertEquals(text, output.strip())
-            output = Popen(['rosmsg', 'show', '-r',type_], stdout=PIPE, stderr=PIPE).communicate()
-            self.assertEquals(text_raw, output[0].decode().strip(), "Failed: %s"%(str(output)))
-            output = Popen(['rosmsg', 'show', '--raw', type_], stdout=PIPE).communicate()[0].decode()
-            self.assertEquals(text_raw, output.strip())
+        # test as search
+        type_ = t
+        text_prefix = "[diagnostic_msgs/%s]:"%t
+        text = os.linesep.join([text_prefix, text])
+        text_raw = os.linesep.join([text_prefix, text_raw])
+        output = Popen(['rosmsg', 'show', type_], stdout=PIPE).communicate()[0].decode()
+        self.assertEquals(text, output.strip())
+        output = Popen(['rosmsg', 'show', '-r',type_], stdout=PIPE, stderr=PIPE).communicate()
+        self.assertEquals(text_raw, output[0].decode().strip(), "Failed: %s"%(str(output)))
+        output = Popen(['rosmsg', 'show', '--raw', type_], stdout=PIPE).communicate()[0].decode()
+        self.assertEquals(text_raw, output.strip())