Add test for add_analyzer at runtime, remove unnecessary ros info log…

…ger, remove unnecessary hardcoded namespace from yaml files

diagnostic_aggregator/CMakeLists.txt

@@ -82,6 +82,7 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake REQUIRED)
 
   file(TO_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/aggregator_node" AGGREGATOR_NODE)
+  file(TO_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/add_analyzer" ADD_ANALYZER)
   file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/test_listener.py" TEST_LISTENER)
   set(create_analyzers_tests
     "primitive_analyzers"
@@ -129,6 +130,27 @@ if(BUILD_TESTING)
     )
   endforeach()
 
+  set(add_analyzers_tests
+  "all_analyzers")
+
+  foreach(test_name ${add_analyzers_tests})
+    file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/default.yaml" PARAMETER_FILE)
+    file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/${test_name}.yaml" ADD_PARAMETER_FILE)
+    file(TO_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/expected_output/add_${test_name}" EXPECTED_OUTPUT)
+
+    configure_file(
+      "test/add_analyzers.launch.py.in"
+      "test_add_${test_name}.launch.py"
+      @ONLY
+    )
+    add_launch_test(
+      "${CMAKE_CURRENT_BINARY_DIR}/test_add_${test_name}.launch.py"
+      TARGET "test_add_${test_name}"
+      TIMEOUT 30
+      ENV
+    )
+  endforeach()
+
   add_launch_test(
     test/test_critical_pub.py
     TIMEOUT 30

diagnostic_aggregator/src/add_analyzer.cpp

@@ -77,7 +77,6 @@ class AddAnalyzer : public rclcpp::Node
         // Check in map if the stripped param name with the added suffix "path" exists
         // This indicates the parameter is part of an analyzer description
         if (parameters.count(stripped_param_name + ".path") > 0) {
-          RCLCPP_INFO(this->get_logger(), param_name.c_str());
           auto parameter_msg = param.to_parameter_msg();
           request->parameters.push_back(parameter_msg);
         }

diagnostic_aggregator/test/add_analyzers.launch.py.in

@@ -0,0 +1,74 @@
+import os
+
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.events import matches_action
+from launch.events.process import ShutdownProcess
+
+import launch_testing
+import launch_testing.actions
+import launch_testing.asserts
+import launch_testing.util
+import launch_testing_ros
+
+
+def generate_test_description():
+    os.environ['OSPL_VERBOSITY'] = '8'
+    os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '{message}'
+
+    aggregator_node = ExecuteProcess(
+        cmd=[
+            "@AGGREGATOR_NODE@",
+            "--ros-args",
+            "--params-file",
+            "@PARAMETER_FILE@"
+            ],
+        name='aggregator_node',
+        emulate_tty=True,
+        output='screen')
+
+    add_analyzer = ExecuteProcess(
+        cmd=[
+            "@ADD_ANALYZER@",
+            "--ros-args",
+            "--params-file",
+            "@ADD_PARAMETER_FILE@"
+            ],
+        name='add_analyzer',
+        emulate_tty=True,
+        output='screen')
+
+    launch_description = LaunchDescription()
+    launch_description.add_action(aggregator_node)
+    launch_description.add_action(add_analyzer)
+    launch_description.add_action(launch_testing.util.KeepAliveProc())
+    launch_description.add_action(launch_testing.actions.ReadyToTest())
+    return launch_description, locals()
+
+class TestAggregator(unittest.TestCase):
+
+    def test_processes_output(self, proc_output, aggregator_node):
+        """Check aggregator logging output for expected strings."""
+
+        from launch_testing.tools.output import get_default_filtered_prefixes
+        output_filter = launch_testing_ros.tools.basic_output_filter(
+            filtered_prefixes=get_default_filtered_prefixes() + ['service not available, waiting...'],
+            filtered_rmw_implementation='@rmw_implementation@'
+        )
+        proc_output.assertWaitFor(
+            expected_output=launch_testing.tools.expected_output_from_file(path="@EXPECTED_OUTPUT@"),
+            process=aggregator_node,
+            output_filter=output_filter,
+            timeout=15
+        )
+
+        import time
+        time.sleep(1)
+
+@launch_testing.post_shutdown_test()
+class TestAggregatorShutdown(unittest.TestCase):
+
+    def test_last_process_exit_code(self, proc_info, aggregator_node):
+        launch_testing.asserts.assertExitCodes(proc_info, process=aggregator_node)

diagnostic_aggregator/test/all_analyzers.yaml

@@ -1,4 +1,4 @@
-analyzers:
+/**:
   ros__parameters:
     path: BASIC
     prefix1:

diagnostic_aggregator/test/analyzer_group.yaml

@@ -1,4 +1,4 @@
-analyzers:
+/**:
   ros__parameters:
     path: TEST
     primary:

diagnostic_aggregator/test/default.yaml

@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+    path: BASIC
+    prefix0:
+      type: diagnostic_aggregator/GenericAnalyzer
+      path: Zeroth
+      contains: [
+        'contain0a',
+        'contain0b' ]

diagnostic_aggregator/test/empty_root_path.yaml

@@ -1,4 +1,4 @@
-analyzers:
+/**:
   ros__parameters:
     primary:
       type: 'diagnostic_aggregator/AnalyzerGroup'

diagnostic_aggregator/test/expected_output/add_all_analyzers.txt

@@ -0,0 +1,6 @@
+/BASIC/Zeroth
+prefix0
+/BASIC/First
+prefix1
+/BASIC/Third
+prefix3

diagnostic_aggregator/test/expected_stale_analyzers.yaml

@@ -1,4 +1,4 @@
-analyzers:
+/**:
   my_path:
     type: diagnostic_aggregator/GenericAnalyzer
     path: My Path

diagnostic_aggregator/test/multiple_match_analyzers.yaml

@@ -1,4 +1,4 @@
-analyzers:
+/**:
   my_path:
     type: diagnostic_aggregator/GenericAnalyzer
     path: Header1

diagnostic_aggregator/test/primitive_analyzers.yaml

@@ -1,4 +1,4 @@
-analyzers:
+/**:
   ros__parameters:
     log_level: debug
     primary: