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Merge pull request #408 from husarion/ros2-lights-integration-tests
Ros2 lights integration tests
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panther_diagnostics/test/integration/system_monitor_node.test.py
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,150 @@ | ||
| #!/usr/bin/env python3 | ||
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| # Copyright 2024 Husarion sp. z o.o. | ||
| # | ||
| # 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. | ||
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| import unittest | ||
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| import launch | ||
| import launch_testing | ||
| import panther_utils.integration_test_utils as test_utils | ||
| import rclpy | ||
| import rclpy.qos | ||
| from diagnostic_msgs.msg import DiagnosticArray | ||
| from launch import LaunchDescription | ||
| from launch.substitutions import PathJoinSubstitution | ||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
| from launch_testing_ros import WaitForTopics | ||
| from panther_msgs.msg import LEDAnimation | ||
| from panther_msgs.srv import SetLEDAnimation | ||
| from sensor_msgs.msg import Image | ||
| from std_srvs.srv import SetBool | ||
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| def generate_test_description(): | ||
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| led_config_file = ( | ||
| PathJoinSubstitution([FindPackageShare("panther_lights"), "config", "led_config.yaml"]), | ||
| ) | ||
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| lights_controller_node = Node( | ||
| package="panther_lights", | ||
| executable="lights_controller_node", | ||
| parameters=[{"led_config_file": led_config_file}], | ||
| ) | ||
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| lights_driver_node = Node( | ||
| package="panther_lights", | ||
| executable="lights_driver_node", | ||
| ) | ||
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| # Start test after 1s | ||
| delay_timer = launch.actions.TimerAction( | ||
| period=1.0, actions=[launch_testing.actions.ReadyToTest()] | ||
| ) | ||
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| actions = [lights_controller_node, lights_driver_node, delay_timer] | ||
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| context = {} | ||
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| return ( | ||
| LaunchDescription(actions), | ||
| context, | ||
| ) | ||
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| class TestNodesIntegration(unittest.TestCase): | ||
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| @classmethod | ||
| def setUpClass(cls): | ||
| rclpy.init() | ||
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| @classmethod | ||
| def tearDownClass(cls): | ||
| rclpy.shutdown() | ||
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| def setUp(self): | ||
| self._test_node = rclpy.create_node("test_node") | ||
| self._led_control_requested = None | ||
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| self._led_control_enable_srv = self._test_node.create_service( | ||
| srv_type=SetBool, | ||
| srv_name="hardware/led_control_enable", | ||
| callback=self._led_control_enable_cb, | ||
| qos_profile=rclpy.qos.qos_profile_services_default, | ||
| ) | ||
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| self._set_led_animation_client = self._test_node.create_client( | ||
| srv_type=SetLEDAnimation, | ||
| srv_name="lights/set_animation", | ||
| qos_profile=rclpy.qos.qos_profile_services_default, | ||
| ) | ||
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| def tearDown(self): | ||
| self._test_node.destroy_node() | ||
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| def _led_control_enable_cb(self, request, response): | ||
| self._led_control_requested = request.data | ||
| response.success = True | ||
| response.message = "LED control enabled" | ||
| return response | ||
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| def test_initialization(self, proc_output): | ||
| rclpy.spin_until_future_complete(self._test_node, rclpy.task.Future(), timeout_sec=2.0) | ||
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| self.assertTrue(self._led_control_requested) | ||
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| # Controller initialization | ||
| proc_output.assertWaitFor("[lights_controller]: Loaded default animations.") | ||
| proc_output.assertWaitFor("[lights_controller]: Initialized successfully.") | ||
| # Driver initialization | ||
| proc_output.assertWaitFor("[lights_driver]: Node constructed successfully.") | ||
| proc_output.assertWaitFor("[lights_driver]: LED control granted.") | ||
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| def _request_error_animation(self): | ||
| request = SetLEDAnimation.Request() | ||
| request.animation = LEDAnimation(id=LEDAnimation.ERROR) | ||
| request.repeating = False | ||
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| self._set_led_animation_client.wait_for_service(timeout_sec=1.0) | ||
| self._set_led_animation_client.call_async(request) | ||
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| def test_msg_publishers(self): | ||
| self._request_error_animation() | ||
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| topic_list = [ | ||
| ("lights/channel_1_frame", Image), | ||
| ("lights/channel_2_frame", Image), | ||
| ("diagnostics", DiagnosticArray), | ||
| ] | ||
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| with WaitForTopics(topic_list, timeout=5.0) as wait_for_topics: | ||
| received_topics_str = ", ".join(wait_for_topics.topics_received()) | ||
| print("Received messages from the following topics: [" + received_topics_str + "]") | ||
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| def test_msg_subscribers(self): | ||
| node_info = test_utils.get_node_info("/lights_driver") | ||
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| self.assertTrue("/lights/channel_1_frame" in node_info.subscribers) | ||
| self.assertTrue("/lights/channel_2_frame" in node_info.subscribers) | ||
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| @launch_testing.post_shutdown_test() | ||
| class TestProcessOutput(unittest.TestCase): | ||
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| def test_exit_code(self, proc_info): | ||
| # Check that process exits with code 0: no error | ||
| launch_testing.asserts.assertExitCodes(proc_info) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| #!/usr/bin/env python3 | ||
|
|
||
| # Copyright 2024 Husarion sp. z o.o. | ||
| # | ||
| # 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. | ||
|
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| import subprocess | ||
| from typing import List | ||
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| class ROSNodeInfo: | ||
| """ | ||
| Class representing the ROS node info. | ||
| """ | ||
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| def __init__(self): | ||
| self.subscribers: List[str] = [] | ||
| self.publishers: List[str] = [] | ||
| self.service_servers: List[str] = [] | ||
| self.service_clients: List[str] = [] | ||
| self.action_servers: List[str] = [] | ||
| self.action_clients: List[str] = [] | ||
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| def get_node_info(node_name: str) -> ROSNodeInfo: | ||
| """ | ||
| Executes the command 'ros2 node info <node_name>' and returns the ROSNodeInfo object. | ||
| Args: | ||
| node_name (str): The name of the ROS 2 node to get information about. | ||
| Returns: | ||
| ROSNodeInfo: An object representing a complete node info. | ||
| Raises: | ||
| RuntimeError: If the command execution fails. | ||
| """ | ||
| node_info = ROSNodeInfo() | ||
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| section_map = { | ||
| "Subscribers:": node_info.subscribers, | ||
| "Publishers:": node_info.publishers, | ||
| "Service Servers:": node_info.service_servers, | ||
| "Service Clients:": node_info.service_clients, | ||
| "Action Servers:": node_info.action_servers, | ||
| "Action Clients:": node_info.action_clients, | ||
| } | ||
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| try: | ||
| # Execute the `ros2 node info` command | ||
| result = subprocess.run( | ||
| ["ros2", "node", "info", node_name], capture_output=True, text=True, check=True | ||
| ) | ||
|
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| # Parse the output | ||
| lines = result.stdout.splitlines() | ||
| current_section = None | ||
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| for line in lines: | ||
| line = line.strip() | ||
| if line in section_map: | ||
| current_section = section_map[line] | ||
| elif line and current_section is not None: | ||
| current_section.append(line.split(":")[0].strip()) | ||
| else: | ||
| current_section = None | ||
|
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| except subprocess.CalledProcessError as e: | ||
| raise RuntimeError(f"Error executing command: {e}. stderr: {e.stderr}") from e | ||
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| return node_info |