Added precommit | Added integration tests

Signed-off-by: Jakub Delicat <[email protected]>

.clang-format

@@ -0,0 +1,21 @@
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve
+AlignOperands: true
+PenaltyBreakAssignment: 21
+PenaltyBreakBeforeFirstCallParameter: 1

.gitignore

@@ -0,0 +1 @@
+__pycache__

.pre-commit-config.yaml

@@ -0,0 +1,99 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+        # mesh files has to be taken into account
+        args: ["--maxkb=3000"]
+      - id: check-ast
+      - id: check-json
+        # vscode .json files do not follow the standard JSON format
+        exclude: ^.vscode/
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: name-tests-test
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--profile", "black"]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        name: codespell
+        description: Checks for common misspellings in text files.
+        entry: codespell
+        args:
+          [
+            "--ignore-words-list",
+            "ned" # north, east, down (NED)
+          ]
+        exclude_types: [rst, svg]
+        language: python
+        types: [text]
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^.github|./\.yaml
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.1.1
+    hooks:
+      - id: flake8
+        args:
+          ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+          # black checks it
+
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+    # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ["--max-line-length=100", "--ignore=D001"]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml

wibotic_connector_can/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10.2)
+cmake_minimum_required(VERSION 3.8)
 project(wibotic_connector_can)
 # Handle superbuild first option(USE_SUPERBUILD "Whether or not a superbuild
 # should be invoked" ON)
@@ -40,7 +40,8 @@ ament_target_dependencies(wibotic_can_driver ${PACKAGE_DEPENDENCIES})
 
 target_link_libraries(wibotic_can_driver ${UAVCAN_LIB} rt)
 
-add_executable(wibotic_connector_can src/wibotic_can_driver_node.cpp src/main.cpp )
+add_executable(wibotic_connector_can src/wibotic_can_driver_node.cpp
+                                     src/main.cpp)
 target_compile_options(wibotic_connector_can PRIVATE -std=c++17)
 target_include_directories(
   wibotic_connector_can
@@ -54,4 +55,16 @@ target_link_libraries(wibotic_connector_can wibotic_can_driver)
 install(TARGETS wibotic_connector_can wibotic_can_driver
         DESTINATION lib/${PROJECT_NAME})
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ros_testing REQUIRED)
+
+  # Integration tests
+  option(TEST_INTEGRATION "Run integration tests" ON)
+  if(TEST_INTEGRATION)
+    add_ros_test(test/integration/wibotic_connector_can.test.py)
+  endif()
+
+endif()
+
 ament_package()

wibotic_connector_can/package.xml

@@ -14,9 +14,16 @@
 
   <author email="[email protected]">Jakub Delicat</author>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
   <depend>rclcpp</depend>
   <depend>wibotic_msgs</depend>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>google-mock</test_depend>
+  <test_depend>ros_testing</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

wibotic_connector_can/src/wibotic_can_driver_node.cpp

@@ -16,23 +16,23 @@
 
 namespace wibotic_connector_can
 {
-WiboticCanDriverNode::WiboticCanDriverNode(const std::string& node_name, const rclcpp::NodeOptions& options)
-  : rclcpp::Node(node_name, options) /*, diagnostic_updater_(std::make_shared<diagnostic_updater::Updater>(this))*/
+WiboticCanDriverNode::WiboticCanDriverNode(
+  const std::string & node_name, const rclcpp::NodeOptions & options)
+: rclcpp::Node(node_name, options)
 {
-  RCLCPP_INFO(this->get_logger(), "Constructing node.");
+  RCLCPP_INFO(this->get_logger(), "Initializing node.");
   DeclareParameters();
   GetParameters();
 
   CreateWiboticCanDriver();
 
   wibotic_info_pub_ = this->create_publisher<wibotic_msgs::msg::WiboticInfo>("wibotic_info", 10);
 
-  wibotic_info_timer_ = this->create_wall_timer(std::chrono::duration<float>(update_time_s_),
-                                                std::bind(&WiboticCanDriverNode::WiboticInfoTimerCallback, this));
+  wibotic_info_timer_ = this->create_wall_timer(
+    std::chrono::duration<float>(update_time_s_),
+    std::bind(&WiboticCanDriverNode::WiboticInfoTimerCallback, this));
 
-  // // diagnostic_updater_->setHardwareID("Battery");
-
-  RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
+  RCLCPP_INFO(this->get_logger(), "Node initialized successfully.");
 }
 
 void WiboticCanDriverNode::DeclareParameters()
@@ -53,34 +53,32 @@ void WiboticCanDriverNode::GetParameters()
 
 void WiboticCanDriverNode::CreateWiboticCanDriver()
 {
-  wibotic_can_driver_ = std::make_unique<WiboticCanDriver>(can_iface_name_, uavcan_node_id_, uavcan_node_name_);
+  wibotic_can_driver_ = std::make_unique<WiboticCanDriver>(
+    can_iface_name_, uavcan_node_id_, uavcan_node_name_);
   wibotic_can_driver_->CreateUavCanNode();
   wibotic_can_driver_->CreateWiboticInfoSubscriber();
   wibotic_can_driver_->Activate();
 }
 
 void WiboticCanDriverNode::WiboticInfoTimerCallback()
 {
-  if (!wibotic_can_driver_)
-  {
+  if (!wibotic_can_driver_) {
     throw std::runtime_error("Trying to get WiboticInfo message from nonexisting driver.");
   }
 
-  try
-  {
+  try {
     const auto update_time_ms = static_cast<std::size_t>(update_time_s_ * 1000);
     wibotic_can_driver_->Spin(update_time_ms);
     auto wibotic_info = wibotic_can_driver_->GetWiboticInfo();
 
     wibotic_info_pub_->publish(ConvertWiboticInfoToMsg(wibotic_info));
-  }
-  catch (const std::runtime_error& e)
-  {
+  } catch (const std::runtime_error & e) {
     RCLCPP_WARN(this->get_logger(), e.what());
   }
 }
 
-wibotic_msgs::msg::WiboticInfo WiboticCanDriverNode::ConvertWiboticInfoToMsg(const wibotic::WiBoticInfo& wibotic_info)
+wibotic_msgs::msg::WiboticInfo WiboticCanDriverNode::ConvertWiboticInfoToMsg(
+  const wibotic::WiBoticInfo & wibotic_info)
 {
   wibotic_msgs::msg::WiboticInfo wibotic_info_msg;
 

wibotic_connector_can/test/integration/wibotic_connector_can.test.py

@@ -0,0 +1,68 @@
+#  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.
+
+
+import unittest
+
+import launch
+import launch_testing
+import pytest
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch_testing_ros import WaitForTopics
+from wibotic_msgs.msg import WiboticInfo
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+
+    wibotic_connector_can = Node(
+        package="wibotic_connector_can",
+        executable="wibotic_connector_can",
+    )
+
+    # Start test after 1s
+    delay_timer = launch.actions.TimerAction(
+        period=1.0, actions=[launch_testing.actions.ReadyToTest()]
+    )
+
+    actions = [wibotic_connector_can, delay_timer]
+
+    context = {}
+
+    return (
+        LaunchDescription(actions),
+        context,
+    )
+
+
+class TestNodeInitialization(unittest.TestCase):
+    def test_initialization_log(self, proc_output):
+        proc_output.assertWaitFor("Node initialized successfully.")
+
+
+class TestNode(unittest.TestCase):
+    def test_msg(self):
+        topic_list = [("/wibotic_info", WiboticInfo)]
+
+        with WaitForTopics(topic_list, timeout=4.0) as wait_for_topics:
+            received_topics_str = ", ".join(wait_for_topics.topics_received())
+            print("Received messages from the following topics: [" + received_topics_str + "]")
+
+
+@launch_testing.post_shutdown_test()
+class TestProcessOutput(unittest.TestCase):
+    def test_exit_code(self, proc_info):
+        # Check that process exits with code 0: no error
+        launch_testing.asserts.assertExitCodes(proc_info)