Add xml and yaml test

Signed-off-by: Christian Ruf <[email protected]>

Author: baconbrot

launch_xml/test/launch_xml/test_string_join_substitution.py

@@ -0,0 +1,71 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Test parsing a StringJoinSubstitution in XML launch file."""
+
+import io
+import textwrap
+
+from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration
+from launch.frontend import Parser
+from launch.launch_context import LaunchContext
+from launch.substitutions import StringJoinSubstitution
+
+
+def test_nested():
+    xml_file = textwrap.dedent(
+        """
+        <launch>
+            <arg name="subdomain" default="wiki"/>
+            <let name="url" value="$(string-join . https://$(var subdomain) ros org)"/>
+        </launch>
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(xml_file))
+    ld = parser.parse_description(root_entity)
+
+    assert len(ld.entities) == 2
+    assert isinstance(ld.describe_sub_entities()[0], DeclareLaunchArgument)
+    assert isinstance(ld.describe_sub_entities()[1], SetLaunchConfiguration)
+
+    lc = LaunchContext()
+    ld.entities[0].visit(lc)
+
+    let = ld.describe_sub_entities()[1]
+    assert isinstance(let.value[0], StringJoinSubstitution)
+    assert let.value[0].perform(lc) == 'https://wiki.ros.org'
+
+
+def test_delimiter():
+    yaml_file = textwrap.dedent(
+        """
+        <launch>
+            <arg name="delimiter" default="^_^"/>
+            <let name="text" value="$(string-join '($(var delimiter))' a b c)"/>
+        </launch>
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(yaml_file))
+    ld = parser.parse_description(root_entity)
+
+    assert len(ld.entities) == 2
+    assert isinstance(ld.entities[0], DeclareLaunchArgument)
+    assert isinstance(ld.entities[1], SetLaunchConfiguration)
+
+    lc = LaunchContext()
+    ld.entities[0].visit(lc)
+
+    let = ld.describe_sub_entities()[1]
+    assert isinstance(let.value[0], StringJoinSubstitution)
+    assert let.value[0].perform(lc) == 'a(^_^)b(^_^)c'

launch_yaml/test/launch_yaml/test_string_join_substitution.py

@@ -0,0 +1,77 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Test parsing a StringJoinSubstitution in yaml launch file."""
+
+import io
+import textwrap
+
+from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration
+from launch.frontend import Parser
+from launch.launch_context import LaunchContext
+from launch.substitutions import StringJoinSubstitution
+
+
+def test_nested():
+    yaml_file = textwrap.dedent(
+        """
+        launch:
+            - arg:
+                name: subdomain
+                default: "wiki"
+            - let:
+                name: url
+                value: "$(string-join . https://$(var subdomain) ros org)"
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(yaml_file))
+    ld = parser.parse_description(root_entity)
+
+    assert len(ld.entities) == 2
+    assert isinstance(ld.describe_sub_entities()[0], DeclareLaunchArgument)
+    assert isinstance(ld.describe_sub_entities()[1], SetLaunchConfiguration)
+
+    lc = LaunchContext()
+    ld.entities[0].visit(lc)
+
+    let = ld.describe_sub_entities()[1]
+    assert isinstance(let.value[0], StringJoinSubstitution)
+    assert let.value[0].perform(lc) == 'https://wiki.ros.org'
+
+
+def test_delimiter():
+    yaml_file = textwrap.dedent(
+        """
+        launch:
+            - arg:
+                name: delimiter
+                default: "^_^"
+            - let:
+                name: text
+                value: "$(string-join '($(var delimiter))' a b c)"
+        """
+    )
+    root_entity, parser = Parser.load(io.StringIO(yaml_file))
+    ld = parser.parse_description(root_entity)
+
+    assert len(ld.entities) == 2
+    assert isinstance(ld.entities[0], DeclareLaunchArgument)
+    assert isinstance(ld.entities[1], SetLaunchConfiguration)
+
+    lc = LaunchContext()
+    ld.entities[0].visit(lc)
+
+    let = ld.describe_sub_entities()[1]
+    assert isinstance(let.value[0], StringJoinSubstitution)
+    assert let.value[0].perform(lc) == 'a(^_^)b(^_^)c'