test_descriptions.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# SPDX-License-Identifier: Apache-2.0
# Copyright 2022 Stéphane Caron

import os
import sys
import unittest
from importlib import import_module  # type: ignore

import git

from robot_descriptions._descriptions import DESCRIPTIONS
from robot_descriptions._xacro import get_urdf_path


class TestDescriptions(unittest.TestCase):
    """Test fixture for all robot descriptions."""

    def test_descriptions_are_sorted(self):
        self.assertEqual(list(DESCRIPTIONS), sorted(DESCRIPTIONS))

    def test_all_descriptions(self):
        """Check all robot-description submodules."""
        for name, desc in DESCRIPTIONS.items():
            description = import_module(f"robot_descriptions.{name}")
            self.assertTrue(
                os.path.exists(description.REPOSITORY_PATH),
                f"Path {description.REPOSITORY_PATH} "
                f"does not exist in {description}",
            )
            self.assertTrue(
                os.path.exists(description.PACKAGE_PATH),
                f"Path {description.PACKAGE_PATH} "
                f"does not exist in {description}",
            )
            if desc.has_mjcf:
                self.assertTrue(hasattr(description, "MJCF_PATH"))
                self.assertTrue(
                    os.path.exists(description.MJCF_PATH),
                    f"MJCF path {description.MJCF_PATH} does not exist "
                    f"in {description}",
                )
            if desc.has_urdf:
                self.assertTrue(
                    hasattr(description, "URDF_PATH")
                    or hasattr(description, "XACRO_PATH")
                )
                urdf_path = get_urdf_path(description)
                self.assertTrue(
                    os.path.exists(urdf_path),
                    f"URDF path {urdf_path} does not exist "
                    f"in {description}",
                )

    def test_invalid_description_commit(self):
        invalid_commit = "foobar"
        os.environ["ROBOT_DESCRIPTION_COMMIT"] = invalid_commit
        self.assertEqual(os.getenv("ROBOT_DESCRIPTION_COMMIT"), invalid_commit)
        description_name = "robot_descriptions.sigmaban_description"
        with self.assertRaises(git.exc.GitCommandError):
            if description_name in sys.modules:
                del sys.modules[description_name]
            import_module(description_name)