Refine fuse_variables tests

Signed-off-by: methylDragon <methylDragon@gmail.com>

fuse_variables/CMakeLists.txt

@@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
 find_package(fuse_core REQUIRED)
 find_package(pluginlib REQUIRED)
 
@@ -22,7 +22,7 @@ find_package(Ceres REQUIRED)
 ###########
 
 ## fuse_variables library
-add_library(${PROJECT_NAME} SHARED
+add_library(${PROJECT_NAME}
   src/acceleration_angular_2d_stamped.cpp
   src/acceleration_angular_3d_stamped.cpp
   src/acceleration_linear_2d_stamped.cpp
@@ -76,10 +76,7 @@ install(DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
 )
 
-install(
-  FILES fuse_plugins.xml
-  DESTINATION share/${PROJECT_NAME}
-)
+pluginlib_export_plugin_description_file(fuse_core fuse_plugins.xml)
 
 ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET)
 ament_export_dependencies(

fuse_variables/package.xml

@@ -12,7 +12,7 @@
   <author email="tmoore@locusrobotics.com">Tom Moore</author>
   <license>BSD</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <build_depend>libceres-dev</build_depend>
   <build_depend>fuse_core</build_depend>
@@ -28,10 +28,10 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch_pytest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
-    <fuse_core plugin="${prefix}/fuse_plugins.xml" />
     <rosdoc config="rosdoc.yaml" />
   </export>
 </package>

fuse_variables/src/stamped.cpp

@@ -46,7 +46,6 @@ namespace fuse_variables
 fuse_core::UUID loadDeviceId(
   fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Parameters> interfaces)
 {
-  fuse_core::UUID device_id;
   std::string device_str;
 
   device_str = fuse_core::getParam(interfaces, "device_id", std::string());

fuse_variables/test/CMakeLists.txt

@@ -32,11 +32,11 @@ ament_add_gtest_executable(test_load_device_id launch_tests/test_load_device_id.
 target_link_libraries(test_load_device_id ${PROJECT_NAME})
 
 ament_add_pytest_test(test_load_device_id_py "launch_tests/test_load_device_id.py"
-  PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
 )
 
-install(
-  DIRECTORY launch_tests
-  DESTINATION share/${PROJECT_NAME}/test
+configure_file(
+  "launch_tests/test_load_device_id.yaml"
+  "launch_tests/test_load_device_id.yaml"
+  COPYONLY
 )

fuse_variables/test/launch_tests/test_load_device_id.cpp

@@ -46,30 +46,23 @@ class TestLoadDeviceId : public ::testing::Test
 public:
   void SetUp() override
   {
-    exec_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-
-    spinning_ = true;
+    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
     spinner_ = std::thread([&](){
-      auto context = rclcpp::contexts::get_global_default_context();
-      while(context->is_valid() && spinning_) {
-        exec_->spin_some();
-      }
+        executor_->spin();
     });
   }
 
   void TearDown() override
   {
-    spinning_ = false;
+    executor_->cancel();
     if (spinner_.joinable()) {
       spinner_.join();
     }
-
-    exec_.reset();
+    executor_.reset();
   }
 
   std::thread spinner_;  //!< Internal thread for spinning the executor
-  std::atomic<bool> spinning_;  //!< Flag for spinning the spin thread
-  rclcpp::executors::SingleThreadedExecutor::SharedPtr exec_;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
 };
 
 TEST_F(TestLoadDeviceId, LoadDeviceId)
@@ -178,6 +171,8 @@ TEST_F(TestLoadDeviceId, LoadDeviceId)
   }
 }
 
+
+// NOTE(CH3): This main is required because the test is manually run by a launch test
 int main(int argc, char** argv)
 {
   rclcpp::init(argc, argv);

fuse_variables/test/launch_tests/test_load_device_id.py

@@ -16,53 +16,33 @@
 
 import os
 
-import unittest
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
 
-from ament_index_python.packages import get_package_prefix
-
-from launch import LaunchContext, LaunchDescription, LaunchService
-from launch.actions import EmitEvent, ExecuteProcess
-from launch.events import Shutdown
-from launch_testing.actions import GTest, ReadyToTest
-
-import launch_testing
-import launch_testing.actions
-import launch_testing.asserts
-import launch_testing.util
-import launch_testing.markers
-import launch_testing_ros
-from launch_ros.substitutions import FindPackageShare
+import launch_pytest
+from launch_pytest.actions import ReadyToTest
+from launch_pytest.tools import process as process_tools
 
 import pytest
 
-@pytest.mark.launch_test
-@launch_testing.markers.keep_alive
-def generate_test_description():
-    ls = LaunchContext()
 
-    param_path = os.path.join(
-        FindPackageShare('fuse_variables').perform(ls),
-        'test',
-        'launch_tests',
-        'test_load_device_id.yaml'
-    )
+@pytest.fixture
+def test_proc():
+    test_root = '.'
 
-    test_path = os.path.join(
-        get_package_prefix('fuse_variables'),
-        '..', '..', 'build', 'fuse_variables', 'test', 'test_load_device_id'
-    )
+    param_path = os.path.join(test_root, 'launch_tests', 'test_load_device_id.yaml')
+    test_path = os.path.join(test_root, 'test_load_device_id')
 
     cmd = [test_path, '--ros-args', '--params-file', param_path]
-    test_load_device_id_process = ExecuteProcess(cmd=cmd, shell=True, output='both')
+    return ExecuteProcess(cmd=cmd, shell=True, output='screen', cached_output=True)
 
-    ld = LaunchDescription([
-        test_load_device_id_process,
-        ReadyToTest()
-    ])
 
-    return ld, {'test_load_device_id_process': test_load_device_id_process}
+@launch_pytest.fixture
+def generate_test_description(test_proc):
+    return LaunchDescription([test_proc, ReadyToTest()])
 
 
-class TestNoFailedTests(unittest.TestCase):
-    def test_no_failed_gtests(self, proc_output):
-        proc_output.assertWaitFor('[  PASSED  ] 1 test.', timeout=10, stream='stdout')
+@pytest.mark.launch(fixture=generate_test_description)
+async def test_no_failed_gtests(test_proc, launch_context):
+    await process_tools.wait_for_exit(launch_context, test_proc, timeout=10)
+    assert test_proc.return_code == 0, "GTests failed"

fuse_variables/test/test_acceleration_angular_2d_stamped.cpp

@@ -166,9 +166,3 @@ TEST(AccelerationAngular2DStamped, Serialization)
   EXPECT_EQ(expected.stamp(), actual.stamp());
   EXPECT_EQ(expected.yaw(), actual.yaw());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_acceleration_angular_3d_stamped.cpp

@@ -176,9 +176,3 @@ TEST(AccelerationAngular3DStamped, Serialization)
   EXPECT_EQ(expected.pitch(), actual.pitch());
   EXPECT_EQ(expected.yaw(), actual.yaw());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_acceleration_linear_2d_stamped.cpp

@@ -171,9 +171,3 @@ TEST(AccelerationLinear2DStamped, Serialization)
   EXPECT_EQ(expected.x(), actual.x());
   EXPECT_EQ(expected.y(), actual.y());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_acceleration_linear_3d_stamped.cpp

@@ -176,9 +176,3 @@ TEST(AccelerationLinear3DStamped, Serialization)
   EXPECT_EQ(expected.y(), actual.y());
   EXPECT_EQ(expected.z(), actual.z());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_fixed_size_variable.cpp

@@ -107,9 +107,3 @@ TEST(FixedSizeVariable, Array)
   EXPECT_NO_THROW(success = success && const_variable.array().back() == 4.0);
   EXPECT_TRUE(success);
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_orientation_2d_stamped.cpp

@@ -292,9 +292,3 @@ TEST(Orientation2DStamped, Serialization)
   EXPECT_EQ(expected.stamp(), actual.stamp());
   EXPECT_EQ(expected.yaw(), actual.yaw());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_orientation_3d_stamped.cpp

@@ -413,9 +413,3 @@ TEST(Orientation3DStamped, Serialization)
   EXPECT_EQ(expected.y(), actual.y());
   EXPECT_EQ(expected.z(), actual.z());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_point_2d_fixed_landmark.cpp

@@ -146,9 +146,3 @@ TEST(Point2DFixedLandmark, Serialization)
   EXPECT_EQ(expected.x(), actual.x());
   EXPECT_EQ(expected.y(), actual.y());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_point_2d_landmark.cpp

@@ -141,9 +141,3 @@ TEST(Point2DLandmark, Serialization)
   EXPECT_EQ(expected.x(), actual.x());
   EXPECT_EQ(expected.y(), actual.y());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_point_3d_fixed_landmark.cpp

@@ -150,9 +150,3 @@ TEST(Point3DFixedLandmark, Serialization)
   EXPECT_EQ(expected.y(), actual.y());
   EXPECT_EQ(expected.z(), actual.z());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_point_3d_landmark.cpp

@@ -146,9 +146,3 @@ TEST(Point3DLandmark, Serialization)
   EXPECT_EQ(expected.y(), actual.y());
   EXPECT_EQ(expected.z(), actual.z());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_position_2d_stamped.cpp

@@ -171,9 +171,3 @@ TEST(Position2DStamped, Serialization)
   EXPECT_EQ(expected.x(), actual.x());
   EXPECT_EQ(expected.y(), actual.y());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_position_3d_stamped.cpp

@@ -193,9 +193,3 @@ TEST(Position3DStamped, Serialization)
   EXPECT_EQ(expected.y(), actual.y());
   EXPECT_EQ(expected.z(), actual.z());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_velocity_angular_2d_stamped.cpp

@@ -166,9 +166,3 @@ TEST(VelocityAngular2DStamped, Serialization)
   EXPECT_EQ(expected.stamp(), actual.stamp());
   EXPECT_EQ(expected.yaw(), actual.yaw());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_velocity_angular_3d_stamped.cpp

@@ -176,9 +176,3 @@ TEST(VelocityAngular3DStamped, Serialization)
   EXPECT_EQ(expected.pitch(), actual.pitch());
   EXPECT_EQ(expected.yaw(), actual.yaw());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_velocity_linear_2d_stamped.cpp

@@ -171,9 +171,3 @@ TEST(VelocityLinear2DStamped, Serialization)
   EXPECT_EQ(expected.x(), actual.x());
   EXPECT_EQ(expected.y(), actual.y());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

fuse_variables/test/test_velocity_linear_3d_stamped.cpp

@@ -176,9 +176,3 @@ TEST(VelocityLinear3DStamped, Serialization)
   EXPECT_EQ(expected.y(), actual.y());
   EXPECT_EQ(expected.z(), actual.z());
 }
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}