Add tests

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

ros_ign_bridge/CMakeLists.txt

@@ -190,10 +190,18 @@ if(BUILD_TESTING)
   add_executable(test_ign_subscriber test/subscribers/ign_subscriber.cpp)
   target_link_libraries(test_ign_subscriber test_utils)
 
+  add_executable(test_ign_server test/serverclient/ign_server.cpp)
+  target_link_libraries(test_ign_server test_utils)
+
+  add_executable(test_ros_client test/serverclient/ros_client.cpp)
+  target_link_libraries(test_ros_client test_utils)
+
   install(TARGETS
+    test_ros_client
     test_ros_publisher
     test_ros_subscriber
     test_ign_publisher
+    test_ign_server
     test_ign_subscriber
     DESTINATION lib/${PROJECT_NAME}
   )
@@ -205,6 +213,10 @@ if(BUILD_TESTING)
   add_launch_test(test/launch/test_ign_subscriber.launch.py
     TIMEOUT 200
   )
+
+  add_launch_test(test/launch/test_ign_server.launch.py
+    TIMEOUT 200
+  )
 endif()
 
 ament_export_dependencies(

ros_ign_bridge/test/launch/test_ign_server.launch.py

@@ -0,0 +1,69 @@
+# Copyright 2022 Open Source Robotics Foundation, 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 unittest
+
+from launch import LaunchDescription
+
+from launch_ros.actions import Node
+
+import launch_testing
+
+
+def generate_test_description():
+
+    publisher = Node(
+        package='ros_ign_bridge',
+        executable='test_ign_server',
+        output='screen'
+    )
+    process_under_test = Node(
+        package='ros_ign_bridge',
+        executable='test_ros_client',
+        output='screen'
+    )
+
+    # Bridge
+    bridge = Node(
+        package='ros_ign_bridge',
+        executable='parameter_bridge',
+        arguments=[
+          '/ign_ros/test/serviceclient/service@ros_ign_interfaces/srv/ControlWorld',
+        ],
+        output='screen'
+    )
+    return LaunchDescription([
+        bridge,
+        publisher,
+        process_under_test,
+        launch_testing.util.KeepAliveProc(),
+        launch_testing.actions.ReadyToTest(),
+    ]), locals()
+
+
+class ROSSubscriberTest(unittest.TestCase):
+
+    def test_termination(self, process_under_test, proc_info):
+        proc_info.assertWaitForShutdown(process=process_under_test, timeout=200)
+
+
+@launch_testing.post_shutdown_test()
+class ROSSubscriberTestAfterShutdown(unittest.TestCase):
+
+    def test_exit_code(self, process_under_test, proc_info):
+        launch_testing.asserts.assertExitCodes(
+            proc_info,
+            [launch_testing.asserts.EXIT_OK],
+            process_under_test
+        )

ros_ign_bridge/test/serverclient/ign_server.cpp

@@ -0,0 +1,75 @@
+// Copyright 2022 Open Source Robotics Foundation, 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.
+
+#include <ignition/msgs/boolean.pb.h>
+#include <ignition/msgs/world_control.pb.h>
+
+#include <ignition/transport.hh>
+
+#include <atomic>
+#include <chrono>
+#include <csignal>
+#include <iostream>
+#include <string>
+#include <thread>
+
+#include "utils/test_utils.hpp"
+#include "utils/ign_test_msg.hpp"
+
+/// \brief Flag used to break the publisher loop and terminate the program.
+static std::atomic_flag g_terminateSrv(false);
+
+//////////////////////////////////////////////////
+/// \brief Function callback executed when a SIGINT or SIGTERM signals are
+/// captured. This is used to break the infinite loop that handles requests
+/// and exit the program smoothly.
+void signal_handler(int _signal)
+{
+  if (_signal == SIGINT || _signal == SIGTERM) {
+    g_terminateSrv.clear();
+  }
+}
+
+//////////////////////////////////////////////////
+bool control_world(
+  const ignition::msgs::WorldControl &,
+  ignition::msgs::Boolean &_res)
+{
+  _res.set_data(true);
+  return true;
+}
+
+//////////////////////////////////////////////////
+int main(int /*argc*/, char **/*argv*/)
+{
+  g_terminateSrv.test_and_set();
+  // Install a signal handler for SIGINT and SIGTERM.
+  std::signal(SIGINT, signal_handler);
+  std::signal(SIGTERM, signal_handler);
+
+  // Create a transport node and advertise a topic.
+  ignition::transport::Node node;
+
+  // ignition::msgs::Color.
+  node.Advertise("/ign_ros/test/serviceclient/service",
+    &control_world);
+
+  // Requests are handled in another thread.
+  // Wait until a signal is sent.
+  while (g_terminateSrv.test_and_set()) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+  }
+
+  return 0;
+}

ros_ign_bridge/test/serverclient/ros_client.cpp

@@ -0,0 +1,48 @@
+// Copyright 2022 Open Source Robotics Foundation, 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.
+
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <thread>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "ros_ign_interfaces/srv/control_world.hpp"
+
+using namespace std::chrono_literals;
+
+/////////////////////////////////////////////////
+TEST(ROSClientTest, WorldControl)
+{
+  rclcpp::init(0, NULL);
+  auto node = std::make_shared<rclcpp::Node>("test_ros_client_to_ign_service");
+  auto client = node->create_client<ros_ign_interfaces::srv::ControlWorld>("/ign_ros/test/serviceclient/service");
+  std::this_thread::sleep_for(1s);
+  client->wait_for_service();
+  auto msg = std::make_shared<ros_ign_interfaces::srv::ControlWorld::Request>();
+  auto future = client->async_send_request(msg);
+  rclcpp::executors::SingleThreadedExecutor ex;
+  ex.add_node(node);
+  ex.spin_until_future_complete(future);
+  auto res = future.get();
+  ASSERT_TRUE(res->success);
+}
+
+/////////////////////////////////////////////////
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}