iox-eclipse-iceoryx#378 initial integration test package

Signed-off-by: Dietrich Krönke <[email protected]>

iceoryx_integration_test/CMakeLists.txt

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+# Copyright 2020 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.5)
+project(iceoryx_integration_test)
+
+include(GNUInstallDirs)
+
+find_package(iceoryx_posh REQUIRED)
+find_package(iceoryx_utils REQUIRED)
+find_package(cpptoml REQUIRED)
+
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in further dependencies
+# manually. find_package(<dependency> REQUIRED)
+
+add_executable(integrationtest src/integrationtest.cpp)
+target_include_directories(
+  integrationtest PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                         $<INSTALL_INTERFACE:include>)
+
+install(TARGETS integrationtest DESTINATION lib/${PROJECT_NAME})
+
+#
+# posh roudi daemon ##########
+#
+add_executable(iox-roudi src/roudi/roudi_main.cpp)
+set_target_properties(
+  iox-roudi
+  PROPERTIES CXX_STANDARD_REQUIRED ON
+             POSITION_INDEPENDENT_CODE ON
+             RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}")
+
+target_link_libraries(
+  iox-roudi
+  PRIVATE iceoryx_utils::iceoryx_utils iceoryx_posh::iceoryx_posh_roudi
+          iceoryx_posh::iceoryx_posh_config)
+
+target_include_directories(
+  iox-roudi
+  PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+          $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/dependencies/install/include>
+          $<INSTALL_INTERFACE:include/${PREFIX}>)
+
+install(TARGETS iox-roudi DESTINATION lib/${PROJECT_NAME})
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights uncomment
+  # the line when a copyright and license is not present in all source files
+  # set(ament_cmake_copyright_FOUND TRUE) the following line skips cpplint (only
+  # works in a git repo) uncomment the line when this package is not in a git
+  # repo set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

iceoryx_integration_test/launch/iox-roudi.launch.py

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+# Copyright 2020 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    roudi_node = Node(
+        package="iceoryx_integration_test",
+        executable="iox-roudi",
+    )
+
+    ld.add_action(roudi_node)
+
+    return ld

iceoryx_integration_test/package.xml

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+<?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>iceoryx_integration_test</name>
+  <version>0.1.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">dietrich.kroenke</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>iceoryx_posh</build_depend>
+  <build_depend>iceoryx_binding_c</build_depend>
+  <build_depend>iceoryx_introspection</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

iceoryx_integration_test/simple_roudi_test.py

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+# -*- coding: utf-8 -*-
+
+# Copyright 2020 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import sys
+import unittest
+import time
+import subprocess
+
+import ament_index_python
+
+import launch
+import launch.actions
+
+import launch_testing
+import launch_testing.actions
+from launch_testing.asserts import assertSequentialStdout
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+
+    print("index: ", ament_index_python.get_package_prefix('iceoryx_integration_test'))
+    TEST_PROC_PATH = os.path.join(
+        ament_index_python.get_package_prefix('iceoryx_integration_test'),
+        # 'bin/iceoryx_integration_test',
+        # 'iox-roudi'
+        'bin/iceoryx_integration_test/',
+        'iox-roudi'
+    )
+
+    # This is necessary to get unbuffered output from the process under test
+    proc_env = os.environ.copy()
+    proc_env['PYTHONUNBUFFERED'] = '1'
+
+    dut_process = launch.actions.ExecuteProcess(
+        cmd=[sys.executable, subprocess.run([TEST_PROC_PATH, '-l', 'debug'])],
+        env=proc_env, output='screen'
+    )
+
+    return launch.LaunchDescription([
+        wait_for_roudi(),
+        dut_process,
+        # Start tests right away - no need to wait for anything
+        launch_testing.actions.ReadyToTest(),
+    ]), {'dut_process': dut_process}
+
+
+def wait_for_roudi():
+    print('wait_for_roudi')
+
+# These tests will run concurrently with the dut process.  After all these tests are done,
+# the launch system will shut down the processes that it started up
+class TestGoodProcess(unittest.TestCase):
+
+    def test_count_to_four(self, proc_output):
+        # This will match stdout from any process.  In this example there is only one process
+        # running
+        time.sleep(1)
+        print('test_count_to_four')
+        proc_output.assertWaitFor('RouDi is ready for clients', timeout=10, stream='stdout')
+        # proc_output.assertWaitFor('Loop 2', timeout=10, stream='stdout')
+        # proc_output.assertWaitFor('Loop 3', timeout=10, stream='stdout')
+        # proc_output.assertWaitFor('Loop 4', timeout=10, stream='stdout')
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+
+    def test_exit_code(self, proc_info):
+        time.sleep(1)
+        print('test_exit_code')
+        # Check that all processes in the launch (in this case, there's just one) exit
+        # with code 0
+        # launch_testing.asserts.assertExitCodes(proc_info)
+
+    def test_full_output(self, proc_output, dut_process):
+        time.sleep(1)
+        print('test_full_output')
+        # Using the SequentialStdout context manager asserts that the following stdout
+        # happened in the same order that it's checked
+        # with assertSequentialStdout(proc_output, dut_process) as cm:
+        #     cm.assertInStdout('Starting Up')
+        #     for n in range(4):
+        #         cm.assertInStdout('Loop {}'.format(n))
+        #     if os.name != 'nt':
+        #         # On Windows, process termination is always forced
+        #         # and thus the last print in good_proc never makes it.
+        #         cm.assertInStdout('Shutting Down')
+
+    def test_out_of_order(self, proc_output, dut_process):
+        time.sleep(1)
+        print('test_out_of_order')
+        # This demonstrates that we notice out-of-order IO
+        # with self.assertRaisesRegex(AssertionError, "'Loop 2' not found"):
+        #     with assertSequentialStdout(proc_output, dut_process) as cm:
+        #         cm.assertInStdout('Loop 1')
+        #         cm.assertInStdout('Loop 3')
+        #         cm.assertInStdout('Loop 2')  # This should raise

iceoryx_integration_test/src/integrationtest.cpp

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+// Copyright (c) 2020 by Apex.AI Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdio>
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  printf("hello world iceoryx_integration_test package\n");
+  return 0;
+}

iceoryx_integration_test/src/roudi/roudi_main.cpp

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+// Copyright (c) 2020 by Apex.AI Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "iceoryx_posh/iceoryx_posh_config.hpp"
+#include "iceoryx_posh/iceoryx_posh_types.hpp"
+#include "iceoryx_posh/internal/log/posh_logging.hpp"
+#include "iceoryx_posh/roudi/iceoryx_roudi_app.hpp"
+#include "iceoryx_posh/roudi/roudi_cmd_line_parser_config_file_option.hpp"
+#include "iceoryx_posh/roudi/roudi_config_toml_file_provider.hpp"
+
+int main(int argc, char* argv[])
+{
+    using iox::roudi::IceOryxRouDiApp;
+
+    iox::config::CmdLineParserConfigFileOption cmdLineParser;
+    cmdLineParser.parse(argc, argv);
+
+    iox::config::TomlRouDiConfigFileProvider configFileProvider(cmdLineParser);
+
+    iox::RouDiConfig_t roudiConfig =
+        configFileProvider.parse()
+            .or_else([](iox::roudi::RouDiConfigFileParseError& parseResult) {
+                iox::LogFatal() << "Couldn't parse config file. Error: "
+                                << iox::cxx::convertEnumToString(iox::roudi::ROUDI_CONFIG_FILE_PARSE_ERROR_STRINGS,
+                                                                 parseResult);
+                std::terminate();
+            })
+            .value();
+    /// @todo Add debug print about used RouDi params e.g. TOML file
+    IceOryxRouDiApp roudi(cmdLineParser, roudiConfig);
+
+    roudi.run();
+
+    return 0;
+}