From 08c5724f325069e180e6b0a33b390de3a38d4c0c Mon Sep 17 00:00:00 2001
From: Kenji Miyake <kenji.miyake@tier4.jp>
Date: Wed, 23 Mar 2022 12:26:03 +0900
Subject: [PATCH] test: add tests for pre-commit-hooks

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/test-pre-commit-hooks.yaml  |  16 +++
 .../prettier-launch-xml/sample.launch.xml     | 110 ++++++++++++++++++
 .../prettier-package-xml/normal/package.xml   |  24 ++++
 .../prettier-xacro/sample.xacro               |  18 +++
 .../ros-include-guard/include/foo_bar/baz.hpp |   3 +
 .../sort-package-xml/normal/package.xml       |  24 ++++
 .../test-pre-commit-hooks.yaml                |  14 +++
 7 files changed, 209 insertions(+)
 create mode 100644 .github/workflows/test-pre-commit-hooks.yaml
 create mode 100644 tests/pre-commit-hooks/prettier-launch-xml/sample.launch.xml
 create mode 100644 tests/pre-commit-hooks/prettier-package-xml/normal/package.xml
 create mode 100644 tests/pre-commit-hooks/prettier-xacro/sample.xacro
 create mode 100644 tests/pre-commit-hooks/ros-include-guard/include/foo_bar/baz.hpp
 create mode 100644 tests/pre-commit-hooks/sort-package-xml/normal/package.xml
 create mode 100644 tests/pre-commit-hooks/test-pre-commit-hooks.yaml

diff --git a/.github/workflows/test-pre-commit-hooks.yaml b/.github/workflows/test-pre-commit-hooks.yaml
new file mode 100644
index 0000000..1e86fcf
--- /dev/null
+++ b/.github/workflows/test-pre-commit-hooks.yaml
@@ -0,0 +1,16 @@
+name: test-pre-commit-hooks
+
+on:
+  pull_request:
+
+jobs:
+  test-pre-commit-hooks:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Run pre-commit
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
+        with:
+          pre-commit-config: tests/pre-commit-hooks/test-pre-commit-hooks.yaml
diff --git a/tests/pre-commit-hooks/prettier-launch-xml/sample.launch.xml b/tests/pre-commit-hooks/prettier-launch-xml/sample.launch.xml
new file mode 100644
index 0000000..9b6271d
--- /dev/null
+++ b/tests/pre-commit-hooks/prettier-launch-xml/sample.launch.xml
@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <!-- Optional parameters -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+
+  <!-- Global parameters -->
+  <!-- Do not add "group" in order to propagate global parameters -->
+  <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <arg name="vehicle_model" value="$(var vehicle_model)"/>
+  </include>
+
+  <!-- Pointcloud container -->
+  <group>
+    <include file="$(find-pkg-share autoware_launch)/launch/pointcloud_container.launch.py" if="$(var use_pointcloud_container)">
+      <arg name="use_multithread" value="true"/>
+      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Vehicle -->
+  <group>
+    <include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="launch_vehicle_interface" value="true"/>
+    </include>
+  </group>
+
+  <!-- System -->
+  <group>
+    <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+      <arg name="run_mode" value="online"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+    </include>
+  </group>
+
+  <!-- Map -->
+  <group>
+    <include file="$(find-pkg-share tier4_map_launch)/launch/map.launch.py">
+      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)"/>
+      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    </include>
+  </group>
+
+  <!-- Sensing -->
+  <group>
+    <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
+      <arg name="launch_driver" value="true"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Localization -->
+  <group>
+    <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml"/>
+  </group>
+
+  <!-- Perception -->
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+      <arg name="mode" value="lidar"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+  </group>
+
+  <!-- Planning -->
+  <group>
+    <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Control -->
+  <group>
+    <include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
+      <arg name="lateral_controller_mode" value="mpc_follower"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+
+  <!-- Tools -->
+  <group>
+    <!-- Rviz -->
+    <node
+      pkg="rviz2"
+      exec="rviz2"
+      name="rviz2"
+      output="screen"
+      args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
+      if="$(var rviz)"
+    />
+
+    <!-- Web Controller -->
+    <include file="$(find-pkg-share web_controller)/launch/web_controller.launch.xml"/>
+  </group>
+</launch>
diff --git a/tests/pre-commit-hooks/prettier-package-xml/normal/package.xml b/tests/pre-commit-hooks/prettier-package-xml/normal/package.xml
new file mode 100644
index 0000000..da42506
--- /dev/null
+++ b/tests/pre-commit-hooks/prettier-package-xml/normal/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rospkg</name>
+  <version>0.0.0</version>
+  <description>The dummy package to test sort_package_xml</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>aaaaa</depend>
+  <depend>bbbbb</depend>
+  <depend>ccccc</depend>
+  <depend>ddddd</depend>
+  <depend>eeeee</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/tests/pre-commit-hooks/prettier-xacro/sample.xacro b/tests/pre-commit-hooks/prettier-xacro/sample.xacro
new file mode 100644
index 0000000..c915174
--- /dev/null
+++ b/tests/pre-commit-hooks/prettier-xacro/sample.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- load parameter -->
+  <xacro:property
+    name="vehicle_info"
+    value="${load_yaml('$(find sample_vehicle_description)/config/vehicle_info.param.yaml')}"
+  />
+
+  <!-- vehicle body -->
+  <link name="base_link">
+    <visual>
+      <origin xyz="${vehicle_info['/**']['ros__parameters']['wheel_base']/2.0} 0 0" rpy="${pi/2.0} 0 ${pi}"/>
+      <geometry>
+        <mesh filename="package://sample_vehicle_description/mesh/lexus.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
diff --git a/tests/pre-commit-hooks/ros-include-guard/include/foo_bar/baz.hpp b/tests/pre-commit-hooks/ros-include-guard/include/foo_bar/baz.hpp
new file mode 100644
index 0000000..0ff1033
--- /dev/null
+++ b/tests/pre-commit-hooks/ros-include-guard/include/foo_bar/baz.hpp
@@ -0,0 +1,3 @@
+#ifndef FOO_BAR__BAZ_HPP_
+#define FOO_BAR__BAZ_HPP_
+#endif  // FOO_BAR__BAZ_HPP_
diff --git a/tests/pre-commit-hooks/sort-package-xml/normal/package.xml b/tests/pre-commit-hooks/sort-package-xml/normal/package.xml
new file mode 100644
index 0000000..da42506
--- /dev/null
+++ b/tests/pre-commit-hooks/sort-package-xml/normal/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rospkg</name>
+  <version>0.0.0</version>
+  <description>The dummy package to test sort_package_xml</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>aaaaa</depend>
+  <depend>bbbbb</depend>
+  <depend>ccccc</depend>
+  <depend>ddddd</depend>
+  <depend>eeeee</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/tests/pre-commit-hooks/test-pre-commit-hooks.yaml b/tests/pre-commit-hooks/test-pre-commit-hooks.yaml
new file mode 100644
index 0000000..47bffee
--- /dev/null
+++ b/tests/pre-commit-hooks/test-pre-commit-hooks.yaml
@@ -0,0 +1,14 @@
+repos:
+  - repo: .
+    rev: HEAD
+    hooks:
+      - id: prettier-xacro
+        files: tests/pre-commit-hooks/prettier-xacro/.*
+      - id: prettier-launch-xml
+        files: tests/pre-commit-hooks/prettier-launch-xml/.*
+      - id: prettier-package-xml
+        files: tests/pre-commit-hooks/prettier-package-xml/.*
+      - id: sort-package-xml
+        files: tests/pre-commit-hooks/sort-package-xml/.*
+      - id: ros-include-guard
+        files: tests/pre-commit-hooks/ros-include-guard/.*