Merge pull request #589 from RI-SE/feature_integration-testing

Integration testing

CMakeLists.txt

@@ -43,6 +43,7 @@ set(WITH_OSI_ADAPTER ON CACHE BOOL "Enable OSIAdapter module")
 set(WITH_ESMINI_ADAPTER ON CACHE BOOL "Enable EsminiAdapter module")
 set(WITH_MQTT_BRIDGE ON CACHE BOOL "Enable MQTTBridge module")
 set(WITH_POINTCLOUD_PUBLISHER ON CACHE BOOL "Enable PointcloudPublisher module")
+set(WITH_INTEGRATION_TESTING ON CACHE BOOL "Enable IntegrationTesting module")
 set(WITH_BACK_TO_START ON CACHE BOOL "Enable BackToStart module")
 
 set(ENABLE_TESTS ON CACHE BOOL "Enable testing on build")
@@ -72,6 +73,9 @@ endif()
 if(WITH_POINTCLOUD_PUBLISHER)
  list(APPEND ENABLED_MODULES PointcloudPublisher)
 endif()
+if(WITH_INTEGRATION_TESTING)
+ list(APPEND ENABLED_MODULES IntegrationTesting)
+endif()
 if(WITH_BACK_TO_START)
  list(APPEND ENABLED_MODULES BackToStart)
 endif()

Dockerfile

@@ -16,9 +16,9 @@ ENV PATH="/root/.nvm/versions/node/v${NODE_VERSION}/bin/:${PATH}"
 SHELL ["/bin/bash", "-c"]
 
 WORKDIR /root/atos_git
-COPY ./scripts/ ./scripts
+COPY ./scripts/installation/ ./scripts/installation/
 RUN --mount=type=cache,target=/var/cache/apt \ 
- ./scripts/install_deps.sh ${REPO_DIR}
+ ./scripts/installation/install_deps.sh ${REPO_DIR}
 COPY . .
-RUN ./scripts/install_atos.sh ${REPO_DIR}
+RUN ./scripts/installation/install_atos.sh ${REPO_DIR}
 WORKDIR /root/atos_ws

common/module.hpp

@@ -82,19 +82,24 @@ class Module : public rclcpp::Node {
  const std::string& topic,
  const rclcpp::Logger& logger);
 
- /*! \brief This helper function is performs a service call given a client and yields a response.
- * \tparam Srv The name of the service to request.
- * \param timeout The timeout for the service call.
- * \param client The client to use to request the service.
- * \param response The response of the service.
- * \return The response of the service.
- */
+
+ /**
+ * @brief This helper function performs a service call given a client and yields a response. This
+ * function is used when you want to specify the request instead of sending an empty request.
+ * 
+ * @tparam Srv Srv The name of the service to request.
+ * @param timeout The timeout for the service call.
+ * @param client The client to use to request the service.
+ * @param response The response of the service.
+ * @param request The request of the service, with the data to be sent. Defaults to an empty request.
+ * @return The response of the service.
+ */
  template <typename Srv>
  bool callService( const std::chrono::duration< double > &timeout,
  std::shared_ptr<rclcpp::Client<Srv>> &client,
- std::shared_ptr<typename Srv::Response> &response)
+ std::shared_ptr<typename Srv::Response> &response,
+ std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>())
 {
- auto request = std::make_shared<typename Srv::Request>();
  auto promise = client->async_send_request(request);
  if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==
  rclcpp::FutureReturnCode::SUCCESS) {

conf/params.yaml → conf/conf/params.yaml

@@ -31,4 +31,7 @@ atos:
  chunk_duration: 2.0
  pointcloud_publisher:
  ros__parameters:
- pointcloud_files: [""]
+ pointcloud_files: [""]
+ integration_testing_handler:
+ ros__parameters:
+ scenario_execution: true

docker-compose-demo.yml → docker-compose-test.yml

@@ -6,13 +6,12 @@ services:
  context: .
  dockerfile: ./Dockerfile
  ipc: host
- stop_signal: SIGINT
- stop_grace_period: 15s
  privileged: true
  stdin_open: true
  tty: true
  volumes:
- - ~/.astazero/ATOS/:/root/.astazero/ATOS/
+ - "./conf:/root/.astazero/ATOS"
+ - "./conf/param.yaml:/root/.astazero/conf/params.yaml"
  ports:
  - "80:80" 
  - "8080:8080" 
@@ -23,7 +22,7 @@ services:
  - "55555:55555"
  - "443:443"
  - "9090:9090" 
- command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py"
+ command: bash -c "source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py
  isoObject:
  image: astazero/iso_object_demo:latest
  privileged: true

docs/Contributing/Testing/testing.md

@@ -1,7 +1,7 @@
 # Testing
 
 ## Unit Tests
-Unit tests for C++ code in ATOS are written in gtest. New modules must have unit tests covering at least the core functionality. All unit tests for a each module are executed automatically each time a pull request is submitted. 
+Unit tests for C++ code in ATOS are written in gtest. New modules must have unit tests covering at least the core functionality. All unit tests for each module are executed automatically each time a pull request is submitted. 
 
 To run individual unit tests, run the following command from the ATOS build folder in your workspace:
 ```bash
@@ -20,5 +20,20 @@ colcon and cmake switches if test should be built with the BUILD_TESTING flag. T
 colcon build --cmake-args -DBUILD_TESTING=ON
 ```
 
+## Integration testing
+The docker compose file docker-compose-test.yml is used to run integration tests towards one or more simulated ISO22133 test objects. These test are used to "smoke test" ATOS and makes sure that no changes 
+breaks any core functionality. You can start these test with the command
+```bash
+docker compose -f docker-compose-test.yml up --abort-on-container-exit
+```
+
+If you wish to run these test manually you can find the entry point script at scripts/integration_testing/run_scenario_test.py. Run the test with
+```bash
+python3 -m pytest run_scenario_test.py
+```
+!!! note
+
+ Running the integration test manually requires you to set up any necessary test objects yourself! 
+
 ## Sample code
 In the Sample Module you will find a sample node and a some tests that triggers message callbacks and service routines. Use this as inspiration when testing your modules. 

docs/Usage/How-to/configuration.md

@@ -2,7 +2,7 @@
 
 ## The test directory
 After starting ATOS the first time, you will find the test directory `.astazero/ATOS` in your home folder on the host machine (or where you have specified it to be). 
-This directory contains all configuration settings and journals which are located in the the following directories:
+This directory contains all configuration settings and journals which are located in the following directories:
 
 - **Catalogs**
  - Explanation: Catalog directory containing various OpenSCENARIO-files with settings and parameters used by esmini. 
@@ -11,7 +11,7 @@ This directory contains all configuration settings and journals which are locate
 - **certs**
  - Explanation: Directory containing the certificates used by e.g. the web-gui.
 - **conf**
- - Explanation:  Directory containing the configuration files used to configure ATOS, i.e. the ROS parameters located in the file params.yaml. Find more information below.
+ - Explanation: Directory containing the configuration files used to configure ATOS, i.e. the ROS parameters located in the file params.yaml. Find more information below.
 - **journal**
  - Explanation: Directory containing the journal files, i.e. recorded configuration/state/position of each object for the duration of a test.
 - **objects**

docs/Usage/Modules/ATOSBase.md

@@ -1,4 +1,4 @@
 # ATOSBase
 
 ## About the module
-`ATOSBase` is a node for ATOS and is responsible for suppling the object ID for the objects that are used in the test.
+`ATOSBase` is a node for ATOS and is responsible for supplying the object ID for the objects that are used in the test.

docs/Usage/Modules/IntegrationTesting.md

@@ -0,0 +1,19 @@
+# IntegrationTesting
+
+## About the module
+`IntegrationTesting` is used for integration tests. The module launches an integration testing handler, which reads from `params.yaml` which integration tests we want to execute. A node for each integration
+test is then launched, and the node performs the specified integration tests. An integration tests can for instance be if an object reports all states correctly during a run, or if it follows a trajectory
+correctly. This module can be run both offline and through GitHub Actions.
+
+!!! note
+
+ You can read more about integration testing in the section [Testing](../../Contributing/Testing/testing.md).
+
+## ROS parameters
+The integration tests are specified in `params.yaml`, and can be set to true of false depending on if we want to run them or not. The following ROS parameters can be set for `IntegrationTesting`:
+
+```yaml
+integration_testing_handler:
+ ros__parameters:
+ scenario_execution: true # set to true or false depending if you want to run this integration test
+```

docs/Usage/Modules/MQTTBridge.md

@@ -6,7 +6,7 @@ to JSON which is then published over MQTT to a specified topic.
 
 Note! The module will shut if no broker ip is specified in the params.yaml
 ## Integration with EsminiAdapter
-The module can be used togheter with the EsminiAdapter module to trigger V2X while running a OpenScenario file in ATOS. You can find more information how to set this up at [EsminiAdapter](./EsminiAdapter.md).
+The module can be used together with the EsminiAdapter module to trigger V2X while running a OpenScenario file in ATOS. You can find more information how to set this up at [EsminiAdapter](./EsminiAdapter.md).
 
 ## ROS parameters
 The following ROS parameters should be set in the params.yaml file:

docs/Usage/Modules/PointcloudPublisher.md

@@ -4,7 +4,7 @@
 `PointcloudPublisher` is used to publish site scans. This module supports pointclouds that have the file type `.pcd`. If you have a very large pointcloud, it is recommended to downsample it before inputting it into the module.
 
 ## ROS parameters
-The follwing ROS parameters can be set for `PointcloudPublisher`:
+The following ROS parameters can be set for `PointcloudPublisher`:
 
 ```yaml
 atos:

docs/Usage/Modules/SampleModule.md

@@ -8,7 +8,7 @@ The sample module is a ros2 node that features some basic publishers and subscri
 It also features a TCPServer running in a separate thread. 
 
 ## Usage
-In order to compile and launch this module (or any other module created from the template) you need to go to the outer-most CMakeLists.txt file in the root of the repository and add the following line:
+In order to compile and launch this module (or any other module created from the template) you need to go to the outermost CMakeLists.txt file in the root of the repository and add the following line:
 ```
 set(WITH_MODULE_X ON CACHE BOOL "Enable ModuleX module")
 ```
@@ -21,7 +21,7 @@ if(WITH_MODULE_X)
 endif()
 ```
 
-Note: When switching ON/OFF certain modules, it might be nessesscary to remove the CMakeCache.txt file in ~/atos_ws/install/atos/.
+Note: When switching ON/OFF certain modules, it might be necessary to remove the CMakeCache.txt file in ~/atos_ws/install/atos/.
 
 It is also necessary to add the module to a launch file, located in the launch directory. This is done by adding the following line to the list of nodes in the appropriate launch file:
 ```
@@ -37,7 +37,7 @@ Then you can compile and launch the module by running the following commands:
 ```
 MAKEFLAGS=-j5 colcon build --packages-up-to atos
 ```
-(tune -j5 to an approperiate number depending on your availiable RAM memory and CPU cores)
+(tune -j5 to an appropriate number depending on your available RAM memory and CPU cores)
 ```
 ros2 launch atos launch_basic.py
 ```

docs/Usage/Modules/TrajectoryletStreamer.md

@@ -1,5 +1,5 @@
 # TrajectoryletStreamer
-An experimental module for generating piecewise trajectory "chunks" based on a known trajectory. It is indended for testing dynamic trajectory functionality in other modules with a trajectory that is known before hand.
+An experimental module for generating piece-wise trajectory "chunks" based on a known trajectory. It is intended for testing dynamic trajectory functionality in other modules with a trajectory that is known beforehand.
 
 # ROS parameters
 The following ROS parameters can be set for `TrajectoryletStreamer`:

launch/launch_integration_testing.py

@@ -0,0 +1,31 @@
+import sys
+import os
+from ament_index_python.packages import get_package_prefix
+sys.path.insert(0, os.path.join( # Need to modify the sys.path since we launch from the ros2 installed path
+ get_package_prefix('atos'),
+ 'share', 'atos', 'launch'))
+from launch_ros.actions import Node
+from launch import LaunchDescription
+import launch_utils.launch_base as launch_base
+
+
+def get_integration_test_nodes():
+ files = launch_base.get_files()
+ return [
+ Node(
+ package='atos',
+ namespace='atos',
+ executable='integration_testing_handler',
+ parameters=[files["params"]]
+ )
+ ]
+
+def generate_launch_description():
+ base_nodes = launch_base.get_base_nodes()
+
+ integration_test_nodes = get_integration_test_nodes()
+
+ for node in integration_test_nodes:
+ base_nodes.append(node)
+
+ return LaunchDescription(base_nodes)

launch/launch_utils/validate_files.py

@@ -62,7 +62,7 @@ def validate_files():
 
  # Params
  params = validate_file(atos_dir / Path("conf") / Path("params.yaml"), 
- get_package_prefix('atos') / Path("etc") / Path("params.yaml"))
+ get_package_prefix('atos') / Path("etc") / Path("conf") / Path("params.yaml"))
 
  return {
  "params": params,

mkdocs.yml

@@ -23,6 +23,7 @@ nav:
  - "Usage/Modules/BackToStart.md"
  - "Usage/Modules/DirectControl.md"
  - "Usage/Modules/EsminiAdapter.md"
+ - "Usage/Modules/IntegrationTesting.md"
  - "Usage/Modules/JournalControl.md"
  - "Usage/Modules/MQTTBridge.md"
  - "Usage/Modules/OSIAdapter.md"
@@ -35,3 +36,4 @@ nav:
  - "Contributing/Feature Requests/Feature_requests.md"
  - "Contributing/Issues/issues.md"
  - "Contributing/Pull Requests/pull_requests.md"
+ - "Contributing/Testing/testing.md"

modules/IntegrationTesting/CMakeLists.txt

@@ -0,0 +1,59 @@
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+cmake_minimum_required(VERSION 3.1)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+project(integration_testing_handler)
+
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(atos_interfaces REQUIRED)
+
+# Define target names
+set(INTEGRATION_TESTING_TARGET ${PROJECT_NAME})
+
+set(ATOS_COMMON_LIBRARY ATOSCommon)
+get_target_property(COMMON_HEADERS ${ATOS_COMMON_LIBRARY} INCLUDE_DIRECTORIES)
+
+include(GNUInstallDirs)
+
+# Create project main executable target
+add_executable(${INTEGRATION_TESTING_TARGET}
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/integrationtestinghandler.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/integrationtestingfactory.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/integrationtesting.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/scenarioexecution.cpp
+)
+# Link project executable to util libraries
+target_link_libraries(${INTEGRATION_TESTING_TARGET} 
+ ${ATOS_COMMON_LIBRARY}
+)
+
+# ROS specific settings
+ament_target_dependencies(${INTEGRATION_TESTING_TARGET}
+ rclcpp
+ std_msgs
+ sensor_msgs
+ atos_interfaces
+)
+
+target_include_directories(${INTEGRATION_TESTING_TARGET} PUBLIC
+ ${CMAKE_CURRENT_SOURCE_DIR}/inc
+ ${COMMON_HEADERS}
+)
+
+# Installation rules
+install(CODE "MESSAGE(STATUS \"Installing target ${OSI_ADAPTER_TARGET}\")")
+install(TARGETS ${INTEGRATION_TESTING_TARGET}
+ RUNTIME DESTINATION "${CMAKE_INSTALL_LIBDIR}/atos"
+ LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)

modules/IntegrationTesting/inc/integrationtesting.hpp

@@ -0,0 +1,38 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "module.hpp"
+#include "roschannels/commandchannels.hpp"
+#include "atos_interfaces/srv/get_object_control_state.hpp"
+
+
+class IntegrationTesting : public Module {
+
+ public:
+ IntegrationTesting(const std::string& moduleName);
+ ~IntegrationTesting();
+
+ static inline std::string const testName = "scenario_execution";
+ virtual void runIntegrationTest() = 0;
+
+ protected:
+ const std::string atosNamespace = "/atos/";
+ const std::string initTopic = atosNamespace + ROSChannels::Init::topicName;
+ const std::string connectTopic = atosNamespace + ROSChannels::Connect::topicName;
+ const std::string armTopic = atosNamespace + ROSChannels::Arm::topicName;
+ const std::string startTopic = atosNamespace + ROSChannels::Start::topicName;
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Empty>> initPub;
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Empty>> connectPub;
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Empty>> armPub;
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Empty>> startPub;
+ std::shared_ptr<rclcpp::Client<atos_interfaces::srv::GetObjectControlState>> getObjectControlStateClient;
+ std::vector<std::pair<int, int>> stateResult;
+
+ virtual void printResult() = 0;
+ int getObjectControlState();
+ void checkState(const std::string& command);
+};