From 992bd75fbeba9294f87c579a579e6db666ae8873 Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Fri, 22 May 2020 15:05:01 +0200
Subject: [PATCH 1/3] test: allow for relative imports in tests

---
 test.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/test.py b/test.py
index cb6c81940..1f70dcdff 100755
--- a/test.py
+++ b/test.py
@@ -2,4 +2,9 @@
 
 if __name__ == "__main__":
     import unittest
-    unittest.main(module=None)
+    import unittest.loader
+    testLoader = unittest.loader.TestLoader()
+    from pathlib import Path
+    top_level_dir = Path(__file__).parent
+    testLoader._top_level_dir = top_level_dir
+    unittest.main(module=None, testLoader=testLoader)

From 2763a39b7c52b273d6e4e66e94878d03b5ac740c Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Fri, 22 May 2020 15:36:18 +0200
Subject: [PATCH 2/3] subt.launch: add generic process launcher

Entry can be added to a config file with driver `subt.launch.Launch`
that can be used to launch a generic process when other osgar nodes
are started and terminated when other nodes are terminated.
---
 subt/launch.py      | 49 +++++++++++++++++++++++++++++++++++++++++++++
 subt/test_launch.py | 32 +++++++++++++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 subt/launch.py
 create mode 100644 subt/test_launch.py

diff --git a/subt/launch.py b/subt/launch.py
new file mode 100644
index 000000000..389664dd9
--- /dev/null
+++ b/subt/launch.py
@@ -0,0 +1,49 @@
+import logging
+import signal
+import subprocess
+
+g_logger = logging.getLogger(__name__)
+
+class Launch:
+    def __init__(self, config, bus):
+        self.bus = bus
+        self.command = config['command']
+        self.shell = config.get('shell', False)
+
+    def start(self):
+        self.running = subprocess.Popen(self.command, shell=self.shell)
+
+    def request_stop(self):
+        self.bus.shutdown()
+        self.running.send_signal(signal.SIGINT)
+
+    def join(self, timeout=None):
+        try:
+            self.running.wait(timeout)
+        except subprocess.TimeoutExpired:
+            command = self.command if isinstance(self.command, str) else " ".join(self.command)
+            g_logger.warning(f"'{command}' still running, terminating")
+            self.running.terminate()
+            try:
+                self.running.wait(1)
+            except subprocess.TimeoutExpired:
+                g_logger.warning(f"'{command}' ignoring SIGTERM, killing")
+                self.running.kill()
+                self.running.wait()
+        assert self.running.poll() is not None
+
+
+if __name__ == "__main__":
+    from unittest.mock import MagicMock
+    test_launch = Launch(config={'command': ['echo', 'hello world!']}, bus=MagicMock())
+    test_launch.start()
+    test_launch.join()
+
+    test_request_stop = Launch(config={'command': ['sleep', '10']}, bus=MagicMock())
+    test_request_stop.start()
+    test_request_stop.request_stop()
+    test_request_stop.join(0.1)
+
+    test_join = Launch(config={'command': ['sleep', '10']}, bus=MagicMock())
+    test_join.start()
+    test_join.join(0.1)
diff --git a/subt/test_launch.py b/subt/test_launch.py
new file mode 100644
index 000000000..5c424dbab
--- /dev/null
+++ b/subt/test_launch.py
@@ -0,0 +1,32 @@
+import logging
+import unittest
+import unittest.mock
+
+from . import launch
+
+
+class Test(unittest.TestCase):
+    def test_launch(self):
+        p = launch.Launch(config={'command': ['true']}, bus=unittest.mock.MagicMock())
+        p.start()
+        p.join()
+
+    def test_request_stop(self):
+        p = launch.Launch(config={'command': ['sleep', '10']}, bus=unittest.mock.MagicMock())
+        p.start()
+        p.request_stop()
+        p.join(0.1)
+
+    def test_join(self):
+        with self.assertLogs(level=logging.WARNING) as log:
+            p = launch.Launch(config={'command': ['sleep', '10']}, bus=unittest.mock.MagicMock())
+            p.start()
+            p.join(0.1)
+        self.assertEqual(len(log.records), 1)
+
+    def test_shell(self):
+        with self.assertLogs(level=logging.WARNING) as log:
+            p = launch.Launch(config={'command': 'sleep 10', 'shell': True}, bus=unittest.mock.MagicMock())
+            p.start()
+            p.join(0.1)
+        self.assertEqual(len(log.records), 1)

From 9ee6d4c4b397321ac829b0d2eeaf49b01928606b Mon Sep 17 00:00:00 2001
From: Zbynek Winkler <zw@robotika.cz>
Date: Fri, 22 May 2020 16:23:57 +0200
Subject: [PATCH 3/3] subt.launch: send CTRL_C_EVENT on Windows

---
 subt/launch.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/subt/launch.py b/subt/launch.py
index 389664dd9..627dd9004 100644
--- a/subt/launch.py
+++ b/subt/launch.py
@@ -1,4 +1,5 @@
 import logging
+import platform
 import signal
 import subprocess
 
@@ -15,7 +16,8 @@ def start(self):
 
     def request_stop(self):
         self.bus.shutdown()
-        self.running.send_signal(signal.SIGINT)
+        signum = signal.CTRL_C_EVENT if platform.system() == "Windows" else signal.SIGINT
+        self.running.send_signal(signum)
 
     def join(self, timeout=None):
         try: