Fix plugin xml parsing with multiple library tags (#268)

* Fix plugin xml parsing with multiple library tags

* Add bazel_ros2_rules tests to CI

.github/workflows/bazelized.yml

@@ -29,7 +29,10 @@ jobs:
         run: du -hs $(readlink -f /home/runner/.cache/ci)
       - name: Simplify apt upgrades
         run: .github/simplify_apt_and_upgrades.sh
-      - name: Configure Bazel for CI
+      - name: Configure Bazel for CI (bazel_ros2_rules)
+        run: ln -s ../.github/ci.bazelrc ./user.bazelrc
+        working-directory: bazel_ros2_rules
+      - name: Configure Bazel for CI (ros2_example_bazel_installed)
         run: ln -s ../.github/ci.bazelrc ./user.bazelrc
         working-directory: ros2_example_bazel_installed
       - name: Install prerequisites
@@ -43,9 +46,15 @@ jobs:
       - name: Test lint
         run: ./fix_bazel_lint.sh --test
         working-directory: .
-      - name: Build Bazel workspace
+      - name: Build Bazel workspace (bazel_ros2_rules)
+        run: bazel build //...
+        working-directory: bazel_ros2_rules
+      - name: Test Bazel workspace (bazel_ros2_rules)
+        run: bazel test //...
+        working-directory: bazel_ros2_rules
+      - name: Build Bazel workspace (ros2_example_installed)
         run: bazel build //...
         working-directory: ros2_example_bazel_installed
-      - name: Test Bazel workspace
+      - name: Test Bazel workspace (ros2_example_installed)
         run: bazel test //... @ros2//...
         working-directory: ros2_example_bazel_installed

bazel_ros2_rules/ros2/BUILD.bazel

@@ -23,3 +23,24 @@ py_library(
 )
 
 run_calculate_rosidl_capitalization_tests()
+
+py_library(
+    name = "cmake_tools_py",
+    srcs = glob(["resources/cmake_tools/**/*.py"]),
+    imports = ["resources"],
+    visibility = ["//visibility:private"],
+)
+
+py_library(
+    name = "ros2bzl_py",
+    srcs = glob(["resources/ros2bzl/**/*.py"]),
+    imports = ["resources"],
+    visibility = ["//visibility:private"],
+    deps = [":cmake_tools_py"],
+)
+
+py_test(
+    name = "plugin_xml_parsing_test",
+    srcs = ["plugin_xml_parsing_test.py"],
+    deps = [":ros2bzl_py"],
+)

bazel_ros2_rules/ros2/plugin_xml_parsing_test.py

@@ -0,0 +1,62 @@
+import tempfile
+import unittest
+
+from ros2bzl.scraping.metadata import parse_plugins_description_xml
+
+
+class PluginXmlParsingTest(unittest.TestCase):
+
+    def test_one_library(self):
+        with tempfile.NamedTemporaryFile(mode='w') as pxml:
+            pxml.write("""
+                <library path="foobar">
+                    <class type="pkg::FooBar" base_class_type="pkg::World">
+                        <description>baz</description>
+                    </class>
+                </library>
+                """)
+            pxml.flush()
+            result = parse_plugins_description_xml(pxml.name)
+        self.assertIn('plugin_libraries', result)
+        self.assertEqual(['foobar'], result['plugin_libraries'])
+
+    def test_class_libraries_one_library(self):
+        with tempfile.NamedTemporaryFile(mode='w') as pxml:
+            pxml.write("""
+                <class_libraries>
+                    <library path="foobar">
+                        <class type="pkg::FooBar" base_class_type="pkg::World">
+                            <description>foobar?</description>
+                        </class>
+                    </library>
+                </class_libraries>
+                """)
+            pxml.flush()
+            result = parse_plugins_description_xml(pxml.name)
+        self.assertIn('plugin_libraries', result)
+        self.assertEqual(['foobar'], result['plugin_libraries'])
+
+    def test_class_libraries_two_library(self):
+        with tempfile.NamedTemporaryFile(mode='w') as pxml:
+            pxml.write("""
+                <class_libraries>
+                    <library path="foobar">
+                        <class type="pkg::FooBar" base_class_type="pkg::World">
+                            <description>foobar?</description>
+                        </class>
+                    </library>
+                    <library path="bazfoo">
+                        <class type="pkg::BazFoo" base_class_type="pkg::World">
+                            <description>bazfoo?</description>
+                        </class>
+                    </library>
+                </class_libraries>
+                """)
+            pxml.flush()
+            result = parse_plugins_description_xml(pxml.name)
+        self.assertIn('plugin_libraries', result)
+        self.assertEqual(['foobar', 'bazfoo'], result['plugin_libraries'])
+
+
+if __name__ == '__main__':
+    unittest.main()

bazel_ros2_rules/ros2/resources/ros2bzl/scraping/__init__.py

@@ -1,13 +1,14 @@
 import os
 
-import ament_index_python
 import cmake_tools
 
 from ros2bzl.scraping.metadata import collect_cmake_package_metadata
 from ros2bzl.scraping.metadata import collect_ros_package_metadata
 
 
 def list_all_executables():
+    # Delay import to allow testing most of ros2bzl without a ros2 workspace
+    import ament_index_python
     executables = {}
     for prefix in ament_index_python.get_packages_with_prefixes().values():
         bindir = os.path.join(prefix, 'bin')
@@ -23,6 +24,8 @@ def list_all_executables():
 
 
 def index_all_packages():
+    # Delay import to allow testing most of ros2bzl without a ros2 workspace
+    import ament_index_python
     packages = {
         name: collect_ros_package_metadata(name, prefix)
         for name, prefix in
@@ -87,6 +90,8 @@ def build_dependency_graph(packages, include=None, exclude=None):
 
 
 def scrape_distribution(include=None, exclude=None):
+    # Delay import to allow testing most of ros2bzl without a ros2 workspace
+    import ament_index_python
     packages, dependency_graph = build_dependency_graph(
         index_all_packages(), include, exclude)
     executables = list_all_executables()

bazel_ros2_rules/ros2/resources/ros2bzl/scraping/metadata.py

@@ -34,8 +34,15 @@ def parse_package_xml(path_to_package_xml):
 def parse_plugins_description_xml(path_to_plugins_description_xml):
     plugins_description_xml = ET.parse(path_to_plugins_description_xml)
     root = plugins_description_xml.getroot()
-    assert root.tag == 'library'
-    return dict(plugin_libraries=[root.attrib['path']])
+    libraries = []
+    assert root.tag in ['class_libraries', 'library']
+    if 'class_libraries' == root.tag:
+        for child in root.findall('library'):
+            libraries.append(child.attrib['path'])
+    else:
+        libraries.append(root.attrib['path'])
+    assert libraries
+    return dict(plugin_libraries=libraries)
 
 
 def find_executables(base_path):

run_all_tests.sh

@@ -15,6 +15,7 @@ cd $(dirname "$me")
 set -x
 (./fix_bazel_lint.sh --test ) && \
 (cd bazel_ros2_rules             && bazel build //...) && \
+(cd bazel_ros2_rules             && bazel test //...) && \
 (cd drake_ros                    && bazel test //...) && \
 (cd drake_ros_examples           && bazel test //...) && \
 (cd ros2_example_bazel_installed && bazel test //... @ros2//...) && \