Default provider is ignore

CMakeLists.txt

@@ -36,6 +36,7 @@ if(CATKIN_ENABLE_TESTING)
     catkin_add_nosetests(test)
 
     add_rostest(test/rostest/test_launch_manager/test_launch_manager.test)
+    add_rostest(test/rostest/test_server/test_default_provider.test)
     add_rostest(test/rostest/test_server/test_dependent_capabilities.test)
     add_rostest(test/rostest/test_server/test_invalid_specs.test)
     add_rostest(test/rostest/test_server/test_package_white_black_lists.test)

Makefile

@@ -21,6 +21,7 @@ coverage:
 	cd ${BUILD_DIR} && make
 	cd ${BUILD_DIR} && make tests
 	cd ${BUILD_DIR} && make run_tests
+	catkin_test_results ${BUILD_DIR}
 	ls ${HOME}/.ros/.coverage
 	cp ${HOME}/.ros/.coverage ./.coverage.1
 	cd ${BUILD_DIR} && ${BUILD_DIR}/devel/env.sh nosetests --where=${SRC_DIR}/test/unit --with-coverage -s

msg/CapabilityEvent.msg

@@ -8,6 +8,7 @@ string provider
 string LAUNCHED="launched"
 string STOPPED="stopped"
 string TERMINATED="terminated"
+string SERVER_READY="server_ready"
 # Event type
 string type
 

src/capabilities/launch_manager.py

@@ -133,6 +133,8 @@ def handle_capability_events(self, msg):
         :param msg: ROS message recieved on the events topic
         :type msg: :py:class:`capabilities.msgs.CapabilityEvent`
         """
+        if msg.type == msg.SERVER_READY:
+            return
         if msg.type != msg.TERMINATED:
             return
         with self.__running_launch_files_lock:

src/capabilities/server.py

@@ -336,6 +336,7 @@ def spin(self):
             '~events', CapabilityEvent, self.handle_capability_events)
 
         rospy.loginfo("Capability Server Ready")
+        rospy.Publisher("~events", CapabilityEvent).publish(CapabilityEvent(type=CapabilityEvent.SERVER_READY))
 
         rospy.spin()
 
@@ -597,27 +598,19 @@ def __get_capability_instances_from_provider(self, provider):
             instances.append(CapabilityInstance(curr, curr_path, started_by=reason))
         return instances
 
-    def __get_providers_for_interface(self, interface):
-        providers = dict([(n, p)
-                          for n, p in self.__spec_index.providers.items()
-                          if p.implements == interface])
-        if not providers:
-            raise RuntimeError("No providers for Capability '{0}'"
-                               .format(interface))
-        return providers
-
     def __start_capability(self, capability, preferred_provider):
         if capability not in self.__spec_index.interfaces.keys() + self.__spec_index.semantic_interfaces.keys():
             raise RuntimeError("Capability '{0}' not found.".format(capability))
-        providers = self.__get_providers_for_interface(capability)
-        if preferred_provider:
-            if preferred_provider not in providers:
-                raise RuntimeError(
-                    "Capability Provider '{0}' not found for Capability '{1}'"
-                    .format(preferred_provider, capability))
-            provider = providers[preferred_provider]
-        else:
-            provider = providers.values()[0]
+        # If no preferred provider is given, use the default
+        preferred_provider = preferred_provider or self.__default_providers[capability]
+        providers = dict([(n, p)
+                          for n, p in self.__spec_index.providers.items()
+                          if p.implements == capability])
+        if preferred_provider not in providers:
+            raise RuntimeError(
+                "Capability Provider '{0}' not found for Capability '{1}'"
+                .format(preferred_provider, capability))
+        provider = providers[preferred_provider]
         instances = self.__get_capability_instances_from_provider(provider)
         with self.__graph_lock:
             for x in instances:

test/rostest/test_server/no_default_provider/no_default_provider_pkg/providers/launch/minimal2.launch

@@ -1,3 +1,3 @@
 <launch>
-    <node name="minimal" pkg="minimal_pkg" type="minimal.py" output="screen" />
+    <node name="minimal2" pkg="minimal_pkg" type="minimal.py" output="screen" />
 </launch>

test/rostest/test_server/test_default_provider.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import unittest
+
+import rostest
+
+import rospy
+
+from test_ros_services import call_service
+from test_ros_services import wait_for_capability_server
+
+TEST_NAME = 'test_default_provider'
+
+
+class Test(unittest.TestCase):
+    def test_default_provider(self):
+        wait_for_capability_server(None)
+        call_service('/capability_server/start_capability', 'no_default_provider_pkg/Minimal', '')
+        rospy.sleep(1)  # Wait for the system to settle
+        resp = call_service('/capability_server/get_running_capabilities')
+        result = [x.capability.provider for x in resp.running_capabilities]
+        retry_count = 0
+        while not result:
+            retry_count += 1
+            if retry_count == 10:
+                break
+            # Retry, sometimes the system is really slow...
+            rospy.sleep(1)
+            resp = call_service('/capability_server/get_running_capabilities')
+            result = [x.capability.provider for x in resp.running_capabilities]
+        expected = ['no_default_provider_pkg/minimal']
+        assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
+
+if __name__ == '__main__':
+    rospy.init_node(TEST_NAME, anonymous=True)
+    rostest.unitrun('capabilities', TEST_NAME, Test)

test/rostest/test_server/test_default_provider.test

@@ -0,0 +1,10 @@
+<launch>
+  <node pkg="capabilities" name="capability_server" type="capability_server" output="screen" required="true"
+        launch-prefix="coverage run --append ">
+    <param name="debug" value="true"/>
+    <env name="ROS_PACKAGE_PATH"
+         value="$(find capabilities)/test/rostest/test_server/no_default_provider:$(find capabilities)/test/unit/discovery_workspaces/minimal:$(env ROS_PACKAGE_PATH)" />
+    <param name="defaults/no_default_provider_pkg/Minimal" value="no_default_provider_pkg/minimal" />
+  </node>
+  <test test-name="default_provider" pkg="capabilities" type="test_default_provider.py"/>
+</launch>

test/rostest/test_server/test_ros_services.py

@@ -6,6 +6,8 @@
 import sys
 import unittest
 
+from threading import Event
+
 import rostest
 
 import rospy
@@ -24,6 +26,18 @@
 from capabilities.msg import CapabilityEvent
 
 
+def wait_for_capability_server(timeout=None):
+    event = Event()
+
+    def handler(msg):
+        if msg.type == msg.SERVER_READY:
+            event.set()
+
+    rospy.Subscriber('/capability_server/events', CapabilityEvent, handler)
+
+    return event.wait(timeout)
+
+
 def call_service(service_name, *args, **kwargs):
     rospy.wait_for_service(service_name)
     service_type = get_service_class_by_name(service_name)