colcon_tools.sh

# List custom colcon packages. Note that packages installed through ros-<distro>-<package-name> are
# not captured in this list
__list_colcon_pkgs() {
  find $_colcon_cd_root/build -executable | \
  awk -F"/" '{for(i=1;i<=NF;i++){if ($i ~ /build/){print $(i+1)}}}' | awk '!a[$0]++' | awk 'NF'
}

# List of executable scripts with full path
#   $1: package name (exact name). If empty, then it's supposed to list all tests
__list_tests_full_path() {
  # Use `_colcon_cd_root` provided by colcon
  find $_colcon_cd_root/build/ -type f -executable | rg "$1(/.*)?/test/.*" --color never
}

# List tests for given packages stripped from the full path
# Arguments
#   $1: package name (exact name). If empty, then it's supposed to list all tests
__list_tests() {
  for test in $(__list_tests_full_path $1)
  do
    echo $test | awk -F / '{print $NF}'
  done
}

# Run a colcon test
#  $1: Package (exact) name
#  $2: Test name
# If no arguments are passed (i.e., both $1 and $2 are empty), then all tests are executed
# If first argument is passed but no second argument (i.e., a test) is passed, then all tests for
# the package are executed
colcon_test() {
  if [ -z $1 ]
  then
    local test_input=$(__list_tests_full_path)
    echo -e "\033[93;1mRunning all tests\033[0m"
    echo -e "\n\033[96m"

    # Print the tests
    for t in $test_input
    do
      echo $t
    done
    echo -e "\033[0m"
    echo -e "\n\033[93;1m-----------------\033[0m\n"
  elif [ -z $2 ]
  then
    local test_input=$(__list_tests_full_path $1)
    echo -e "\033[93mRunning all tests for \033[1m'$1'\033[0;93m package\033[0m"
    echo -e "\n\033[96m"

    # Print test (short) names
    for t in $(__list_tests $1)
    do
      echo $t
    done
    echo -e "\033[0m"
    echo -e "\n\033[93;1m-----------------\033[0m\n"
  else
    # Go over all arguments except the first (which is the package name)
    local test_input="${@:2}"
  fi

  for test_name in $test_input
  do
    local tests="$(__list_tests_full_path $1 | rg $test_name\$)"
    if [ -n "$tests" ]
    then
      for test in $tests
      do
        echo -e "\033[36m-------------------------------\033[0m"
        echo -e "\033[36mTest: \033[96;1m$test\033[0m"
        echo -e "\033[36m-------------------------------\033[0m"
        $test
      done
    else
      # Check if package exists
      if [ -z __list_colcon_pkgs $1 ]
      then
        echo -e "\033[91mProvided package \033[93;1m'$1'\033[0;91m is not found"
        echo -e "\n\033[93mTo list colcon packages, run '\033[93;1mcolcon_cd && colcon_list\033[0;93m' \033[0m"
      else
        echo -e "\033[91mTest \033[93;1m'$test_name'\033[0;91m is not available for the package \033[93;1m'$1'\033[0m"
        echo -e "\n\033[92mTo list available tests for a given package, run '\033[93;1m__list_tests <package-name>\033[0;92m' \033[0m"
      fi
      echo -e "\033[93mUse tab autocompletion to list \033[3mexecutable\033[0;93m packages and tests\033[0m"
    fi
  done
}


# List of TESTABLE packages
#  Go over each package (including non testable ones) and call `__list_tests`. If it's not empty,
#  then print the package name
__list_of_testable_packages() {
  # List of all colcon packages
  local pkg_names=$(__list_colcon_pkgs)

  # List of all executable tests
  local all_tests=$(__list_tests)

  # Go over each colcon package and check if it has an executable test
  for pkg_name in $(__list_colcon_pkgs)
  do
    if [ -n "$(__list_tests $pkg_name)" ]
    then
      echo $pkg_name
    fi
  done
}

# Print list of callable functions within this script
__list_of_script_funcs() {
  declare -F | awk '{print $3}' | rg '^[^__]' --color never
}


# Helpful reference for writing completion scripts: https://iridakos.com/programming/2018/03/01/bash-programmable-completion-tutorial
# Add the bash autocomplete commands
__add_complete_commands() {
  local cur prev

  local cmd="${1##*/}"
  local word=${COMP_WORDS[COMP_CWORD]}
  local line=${COMP_LINE}

  # Completion type (https://unix.stackexchange.com/questions/166908/is-there-anyway-to-get-compreply-to-be-output-as-a-vertical-list-of-words-instea)
  COMP_TYPE=63 # 63 for <tab><tab>, or 9 for <tab>
  COMP_KEY=63 # 63 for <tab><tab>, or 9 for <tab>

  cur=${COMP_WORDS[COMP_CWORD]}
  prev=${COMP_WORDS[COMP_CWORD-1]}

  if [ $COMP_CWORD -eq 1 ]; then
    # Print suggestions line by line
    suggestions=( $(compgen -W "$(__list_of_testable_packages)" -- $cur) )
    COMPREPLY=("${suggestions[@]}")

  elif [ $COMP_CWORD -ge 2 ]; then
    # Tests for a given package
    suggestions=( $(compgen -W "$(__list_tests ${COMP_WORDS[1]})" -- $cur) )
    COMPREPLY=("${suggestions[@]}")  
  fi
}

# Add auto-complete commands
complete -F __add_complete_commands colcon_test