feat: launch grant experiment by id

src/iiwa_experement/test/test_launch.py

@@ -0,0 +1,95 @@
+"""Launch validation and action wiring."""
+import importlib.util
+from pathlib import Path
+
+import pytest
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch_ros.actions import Node
+
+from iiwa_experement.runtime_config import validate_experiment_id
+
+
+PACKAGE = Path(__file__).resolve().parents[1]
+LAUNCH = PACKAGE / 'launch' / 'experiment.launch.py'
+
+
+def load_launch_module():
+    spec = importlib.util.spec_from_file_location('experiment_launch', LAUNCH)
+    module = importlib.util.module_from_spec(spec)
+    assert spec.loader is not None
+    spec.loader.exec_module(module)
+    return module
+
+
+@pytest.mark.parametrize('raw, expected', [('1', 1), ('20', 20), (' 11 ', 11)])
+def test_valid_experiment_ids(raw, expected):
+    assert validate_experiment_id(raw) == expected
+
+
+@pytest.mark.parametrize('raw', ['', '0', '21', 'abc', '-1', '1.0', '01', '  '])
+def test_invalid_experiment_ids_are_rejected(raw):
+    with pytest.raises(ValueError):
+        validate_experiment_id(raw)
+
+
+def test_runtime_actions_include_bringup_and_one_scene_spawner():
+    module = load_launch_module()
+    actions = module.runtime_actions(
+        experiment_id=19,
+        scene_config='/tmp/custom scenes.yaml',
+        setting_path='/tmp/run/setting.yaml',
+        rviz='false',
+    )
+    includes = [a for a in actions if isinstance(a, IncludeLaunchDescription)]
+    nodes = [a for a in actions if isinstance(a, Node)]
+    assert len(includes) == 1
+    assert len(nodes) == 1
+    assert 'iiwa_bringup' in repr(includes[0].launch_description_source.location)
+    arguments = dict(includes[0].launch_arguments)
+    assert arguments['simulate'] == 'true'
+    assert arguments['rviz'] == 'false'
+    assert arguments['setting'] == '/tmp/run/setting.yaml'
+    node = nodes[0]
+    assert node.node_package == 'iiwa_experement'
+    assert node.node_executable == 'scene_spawner'
+    assert vars(node)['_Node__node_name'] == 'scene_spawner'
+    assert module.spawner_parameters(19, '/tmp/custom scenes.yaml') == {
+        'experiment_id': 19,
+        'scene_config': '/tmp/custom scenes.yaml',
+    }
+
+
+def test_runtime_actions_can_register_cleanup(tmp_path):
+    from launch.actions import RegisterEventHandler
+
+    module = load_launch_module()
+    actions = module.runtime_actions(
+        experiment_id=1,
+        scene_config='/tmp/scenes.yaml',
+        setting_path='/tmp/setting.yaml',
+        cleanup_dir=str(tmp_path / 'run'),
+    )
+    assert len(actions) == 3
+    assert isinstance(actions[-1], RegisterEventHandler)
+    target = tmp_path / 'run'
+    target.mkdir()
+    (target / 'world.wbt').write_text('temporary', encoding='utf-8')
+    module._remove_directory(None, directory=str(target))
+    assert not target.exists()
+
+
+def test_launch_description_declares_all_arguments_and_validates_in_opaque_function():
+    module = load_launch_module()
+    description = module.generate_launch_description()
+    arguments = {
+        entity.name: entity.default_value
+        for entity in description.entities
+        if isinstance(entity, DeclareLaunchArgument)
+    }
+    assert set(arguments) == {'experiment_id', 'rviz', 'scene_config', 'base_setting'}
+    assert [substitution.text for substitution in arguments['experiment_id']] == ['']
+    assert [substitution.text for substitution in arguments['rviz']] == ['false']
+    assert 'scenes.yaml' in repr(arguments['scene_config'])
+    assert 'setting.yaml' in repr(arguments['base_setting'])
+    opaque = [e for e in description.entities if isinstance(e, OpaqueFunction)]
+    assert len(opaque) == 1