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feat(args): Allow specifying dynamic arg #382

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feat(args): Allow specifying dynamic arg #382

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28 changes: 28 additions & 0 deletions test/test_xacro.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1110,6 +1110,34 @@ def test_arg_function(self):
<a xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="foo" default="bar"/>${xacro.arg('foo')}</a>'''), '<a>bar</a>')

def test_dynamic_arg_default(self):
self.assert_matches(self.quick_xacro('''
<a xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dyn_arg" params="name">
<xacro:arg name="${name}_test" default="test" />
<link name="$(arg ${name}_test)" />
</xacro:macro>
<xacro:dyn_arg name="a" />
<xacro:dyn_arg name="b" />
</a>'''), '''<a>
<link name="test"/>
<link name="test"/>
</a>''')

def test_dynamic_arg_specified(self):
self.assert_matches(self.quick_xacro('''
<a xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dyn_arg" params="name">
<xacro:arg name="${name}_test" default="test" />
<link name="$(arg ${name}_test)" />
</xacro:macro>
<xacro:dyn_arg name="a" />
<xacro:dyn_arg name="b" />
</a>''', cli=['a_test:=test1', 'b_test:=test2']), '''<a>
<link name="test1"/>
<link name="test2"/>
</a>''')

def test_broken_include_error_reporting(self):
self.assertRaises(xml.parsers.expat.ExpatError, self.quick_xacro,
'''<a xmlns:xacro="http://www.ros.org/wiki/xacro">
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1 change: 1 addition & 0 deletions xacro/__init__.py
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Expand Up @@ -952,6 +952,7 @@ def eval_all(node, macros, symbols):

elif node.tagName == 'xacro:arg':
name, default = check_attrs(node, ['name', 'default'], [])
name = str(eval_text(name, symbols))
if name not in substitution_args_context['arg']:
substitution_args_context['arg'][name] = str(eval_text(default, symbols))

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