Update workstation UI, ROS task control and device integration

station/test/test_ros_domain.py

@@ -0,0 +1,22 @@
+import os
+import subprocess
+from pathlib import Path
+from unittest import TestCase
+
+
+class RosDomainTest(TestCase):
+    def policy(self, **changes):
+        env={k:v for k,v in os.environ.items() if k not in ('REAL_ROS_DOMAIN_ID','REAL_ROS_LOCALHOST_ONLY')}
+        env.update(changes)
+        root=Path(__file__).resolve().parents[2]
+        return subprocess.run(['bash','-c','source "$1"; ros_domain_force_real || exit $?; printf "%s %s" "$ROS_DOMAIN_ID" "$ROS_LOCALHOST_ONLY"','bash',str(root/'scripts/lib/ros_domain.sh')],env=env,capture_output=True,text=True,timeout=3)
+    def test_inherited_global_and_simulation_domains_are_not_adopted(self):
+        for inherited in ('0','77','123'):
+            value=self.policy(ROS_DOMAIN_ID=inherited,ROS_LOCALHOST_ONLY='0')
+            self.assertEqual(value.returncode,0,value.stderr)
+            self.assertEqual(value.stdout,'42 1')
+    def test_explicit_override_and_invalid_values(self):
+        value=self.policy(REAL_ROS_DOMAIN_ID='231',REAL_ROS_LOCALHOST_ONLY='0')
+        self.assertEqual(value.stdout,'231 0')
+        for domain in ('-1','233','abc','77'):
+            self.assertNotEqual(self.policy(REAL_ROS_DOMAIN_ID=domain).returncode,0)