Protobuf typeadapter tests (#32)

---------

Signed-off-by: Gonzo de Pedro <[email protected]>
Signed-off-by: Gonzalo de Pedro <[email protected]>
Co-authored-by: Gabriel <[email protected]>
Co-authored-by: gdiaz-guevara <[email protected]>
Co-authored-by: Tully Foote <[email protected]>

.github/workflows/basic_ci.yaml

@@ -44,6 +44,6 @@ jobs:
           path: ros_ws/src
       - uses: ros-tooling/[email protected]
         with:
-          package-name: rosidl_adapter_proto rosidl_typesupport_protobuf rosidl_typesupport_protobuf_cpp rosidl_typesupport_protobuf_c
+          package-name: rosidl_adapter_proto rosidl_typesupport_protobuf rosidl_typesupport_protobuf_cpp rosidl_typesupport_protobuf_c rosidl_typeadapter_protobuf_test
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ros_distribution }}/ros2.repos

rosidl_adapter_proto/CMakeLists.txt

@@ -22,6 +22,21 @@ project(rosidl_adapter_proto)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(rosidl_cmake REQUIRED)
+  ament_add_pytest_test(pytest test)
+  set(generator_arguments_file "${CMAKE_CURRENT_SOURCE_DIR}/test/msg/test_rosid_adapter_proto__arguments.json")
+  rosidl_write_generator_arguments(
+    "${generator_arguments_file}"
+    PACKAGE_NAME "${PROJECT_NAME}"
+    IDL_TUPLES "${CMAKE_CURRENT_SOURCE_DIR}/test:msg/BoolTest.idl"
+    OUTPUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/test"
+    TEMPLATE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/resource"
+    TARGET_DEPENDENCIES "${CMAKE_CURRENT_SOURCE_DIR}/test/msg/BoolTest.idl"
+    ADDITIONAL_FILES "")
+endif()
+
 ament_python_install_package(${PROJECT_NAME})
 
 ament_package(CONFIG_EXTRAS "cmake/rosidl_adapter_proto-extras.cmake.in")

rosidl_adapter_proto/package.xml

@@ -13,6 +13,9 @@
   <exec_depend>rosidl_cli</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>rosidl_cmake</test_depend>
+
   <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>

rosidl_adapter_proto/pytest.ini

@@ -0,0 +1,2 @@
+[pytest]
+junit_family=xunit2

rosidl_adapter_proto/test/msg/BoolTest.idl

@@ -0,0 +1,7 @@
+module rosidl_adapter_proto {
+  @verbatim (language="comment", text=
+    "This is for test purposes.")
+  struct Bool {
+    boolean data;
+  };
+};

rosidl_adapter_proto/test/msg/test_rosidl_adapter__empty_args.json

@@ -0,0 +1,3 @@
+{
+
+}

rosidl_adapter_proto/test/test_adapter_proto_message.py

@@ -0,0 +1,172 @@
+# ================================= Apache 2.0 =================================
+#
+# Copyright (C) 2021 Continental
+#
+# 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.
+#
+# ================================= Apache 2.0 =================================
+
+import pathlib
+
+import pytest
+
+from rosidl_adapter_proto import collect_proto_imports
+from rosidl_adapter_proto import compute_proto_field_number
+from rosidl_adapter_proto import generate_proto
+from rosidl_adapter_proto import MSG_TYPE_TO_PROTO
+from rosidl_adapter_proto import to_proto_import
+from rosidl_parser.definition import IdlLocator
+from rosidl_parser.definition import Message
+from rosidl_parser.parser import parse_idl_file
+
+
+MESSAGE_IDL_LOCATOR = IdlLocator(pathlib.Path(__file__).parent,
+                                 pathlib.Path('msg') / 'BoolTest.idl')
+
+
+@pytest.fixture(scope='module')
+def message_idl_file():
+    return parse_idl_file(MESSAGE_IDL_LOCATOR)
+
+
+def search_word(file_path, word):
+    with open(file_path, 'r') as file:
+        content = file.read()
+        if word in content:
+            return True
+        return False
+
+
+def get_member_name(message_idl_file):
+    messages = message_idl_file.content.get_elements_of_type(Message)
+    member = messages[0].structure.members[0]
+    return member.name
+
+
+def test_message_proto_generated_invalid_argument():
+    with pytest.raises(Exception):
+        generate_file_argument = IdlLocator(
+            pathlib.Path(__file__).parent,
+            pathlib.Path('msg') / 'empty_document.json')
+        rc = generate_proto(generate_file_argument.get_absolute_path())
+
+        assert rc is None
+
+
+def test_message_proto_generated_empty_file():
+    with pytest.raises(Exception):
+        generate_file_argument = IdlLocator(
+            pathlib.Path(__file__).parent,
+            pathlib.Path('msg') / 'test_rosidl_adapter__empty_args.json')
+        rc = generate_proto(generate_file_argument.get_absolute_path())
+
+        assert rc is None
+
+
+def test_message_proto_generated(message_idl_file):
+    generate_file_argument = IdlLocator(
+        pathlib.Path(__file__).parent,
+        pathlib.Path('msg') / 'test_rosid_adapter_proto__arguments.json')
+    rc = generate_proto(generate_file_argument.get_absolute_path())
+
+    assert rc is not None
+
+    messages = message_idl_file.content.get_elements_of_type(Message)
+    member = messages[0].structure.members[0]
+    field_number = compute_proto_field_number(member.name)
+    proto_type = MSG_TYPE_TO_PROTO[member.type.typename]
+
+    proto_file_name = IdlLocator(
+        pathlib.Path(__file__).parent,
+        pathlib.Path('msg') / 'BoolTest.proto')
+
+    assert search_word(proto_file_name.get_absolute_path(), member.name) is True
+    assert search_word(proto_file_name.get_absolute_path(), str(field_number)) is True
+    assert search_word(proto_file_name.get_absolute_path(), proto_type) is True
+
+
+def test_compute_proto_field_number_is_greter_than_0(message_idl_file):
+    member_name = get_member_name(message_idl_file)
+    field_number = compute_proto_field_number(member_name)
+
+    assert field_number > 0
+
+
+def test_compute_proto_field_number_is_not_in_the_reserved_range(message_idl_file):
+    member_name = get_member_name(message_idl_file)
+    field_number = compute_proto_field_number(member_name)
+
+    assert field_number not in range(19000, 19999)
+
+
+def test_compute_proto_field_number_repeated_with_same_member_name(message_idl_file):
+    member_name = get_member_name(message_idl_file)
+    field_number = compute_proto_field_number(member_name)
+    second_field_number = compute_proto_field_number('data')
+
+    assert field_number == second_field_number
+
+
+def test_msg_type_to_proto_from_message_file(message_idl_file):
+    messages = message_idl_file.content.get_elements_of_type(Message)
+    member = messages[0].structure.members[0]
+    proto_type = MSG_TYPE_TO_PROTO[member.type.typename]
+    assert proto_type == 'bool'
+
+
+def test_msg_type_to_proto_mapping():
+    idl_messages = ['boolean', 'octet', 'char', 'wchar', 'float',
+                    'double', 'long double', 'uint8', 'int8',
+                    'uint16', 'int16', 'uint32', 'int32', 'uint64',
+                    'int64', 'string', 'wstring']
+    expected_proto_type_ = ['bool', 'uint32', 'uint32', 'uint32',
+                            'float', 'double', 'double', 'uint32',
+                            'int32', 'uint32', 'int32', 'fixed32',
+                            'sfixed32', 'fixed64', 'sfixed64',
+                            'string', 'bytes']
+    index = 0
+    for idl_message in idl_messages:
+        proto_type = MSG_TYPE_TO_PROTO[idl_message]
+        assert expected_proto_type_[index] == proto_type
+        index += 1
+
+
+def test_msg_type_to_proto_invalid():
+    with pytest.raises(Exception):
+        MSG_TYPE_TO_PROTO['integer']
+
+
+def test_to_proto_import(message_idl_file):
+    messages = message_idl_file.content.get_elements_of_type(Message)
+    namespace_type = messages[0].structure.namespaced_type
+    proto_import = to_proto_import(namespace_type)
+    assert proto_import == 'rosidl_adapter_proto/Bool.proto'
+
+
+def test_to_proto_import_invalid_argument():
+    with pytest.raises(Exception):
+        to_proto_import('invalid argument')
+
+
+def test_collect_proto_import(message_idl_file):
+    messages = message_idl_file.content.get_elements_of_type(Message)
+    proto_import_set = set()
+    for message in messages:
+        proto_import_set.update(collect_proto_imports(message))
+    for proto_file in proto_import_set:
+        assert proto_file == 'rosidl_adapter_proto/Bool.proto'
+
+
+def test_collect_proto_import_invalid_argument():
+    with pytest.raises(Exception):
+        collect_proto_imports('string value')

rosidl_typeadapter_protobuf_test/CMakeLists.txt

@@ -0,0 +1,148 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rosidl_typeadapter_protobuf_test)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+if(CMAKE_BUILD_TYPE STREQUAL "Debug" AND MSVC)
+  # /bigobj is needed to avoid error C1128:
+  #   https://msdn.microsoft.com/en-us/library/8578y171.aspx
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
+endif()
+
+option(SKIP_SINGLE_RMW_TESTS
+  "Skip tests involving only a single RMW implementation" OFF)
+option(SKIP_MULTI_RMW_TESTS
+  "Skip tests involving only multiple RMW implementations" OFF)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_cmake REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
+  find_package(rcpputils REQUIRED)
+  find_package(rcl REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(test_msgs REQUIRED)
+  find_package(rosidl_typesupport_protobuf_cpp REQUIRED)
+
+
+  include_directories(include)
+
+  ament_index_get_resource(interface_files "rosidl_interfaces" "test_msgs")
+  string(REPLACE "\n" ";" interface_files "${interface_files}")
+
+
+  set(message_files "")
+  set(service_files "")
+  set(action_files "")
+  foreach(interface_file ${interface_files})
+    get_filename_component(interface_ns "${interface_file}" DIRECTORY)
+    get_filename_component(interface_ns "${interface_ns}" NAME)
+    string_ends_with("${interface_file}" ".msg" is_message)
+    if(is_message AND interface_ns STREQUAL "msg")
+      list(APPEND message_files "${interface_file}")
+      continue()
+    endif()
+    string_ends_with("${interface_file}" ".srv" is_service)
+    if(is_service AND interface_ns STREQUAL "srv")
+      list(APPEND service_files "${interface_file}")
+      continue()
+    endif()
+    string_ends_with("${interface_file}" ".idl" is_action)
+    if(is_action AND interface_ns STREQUAL "action")
+      list(APPEND action_files "${interface_file}")
+      continue()
+    endif()
+  endforeach()
+
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # # Provides PYTHON_EXECUTABLE_DEBUG
+  # find_package(python_cmake_module REQUIRED)
+  # find_package(PythonExtra REQUIRED)
+
+  # get the rmw implementations ahead of time
+  find_package(rmw_implementation_cmake REQUIRED)
+  get_available_rmw_implementations(rmw_implementations2)
+  foreach(rmw_implementation ${rmw_implementations2})
+    find_package("${rmw_implementation}" REQUIRED)
+  endforeach()
+
+  function(custom_test target with_message_argument)
+    if(with_message_argument)
+      # adding test for each message type
+      foreach(message_file ${message_files})
+        get_filename_component(TEST_MESSAGE_TYPE "${message_file}" NAME_WE)
+        ament_add_test(
+          "${target}${target_suffix}__${TEST_MESSAGE_TYPE}"
+          COMMAND "$<TARGET_FILE:${target}>" "${TEST_MESSAGE_TYPE}"
+          TIMEOUT 15
+          GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+          APPEND_LIBRARY_DIRS "${append_library_dirs}")
+        set_tests_properties(
+          "${target}${target_suffix}__${TEST_MESSAGE_TYPE}"
+          PROPERTIES REQUIRED_FILES "$<TARGET_FILE:${target}>"
+        )
+      endforeach()
+    else()
+      ament_add_test(
+        "${target}${target_suffix}"
+        COMMAND "$<TARGET_FILE:${target}>"
+        TIMEOUT 15
+        GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+        APPEND_LIBRARY_DIRS "${append_library_dirs}")
+      set_tests_properties(
+        "${target}${target_suffix}"
+        PROPERTIES REQUIRED_FILES "$<TARGET_FILE:${target}>"
+      )
+    endif()
+  endfunction()
+
+  function(custom_executable  target)
+    add_executable(${target} ${ARGN})
+    ament_target_dependencies(${target}
+      "rclcpp"
+      "rclcpp_action"
+      "test_msgs"
+    )
+  endfunction()
+
+  add_library(subscribe_types STATIC
+    "test/subscribe_array_types.cpp"
+    "test/subscribe_basic_types.cpp"
+    "test/subscribe_string_types.cpp")
+  ament_target_dependencies(subscribe_types
+    "rclcpp"
+    "test_msgs")
+
+  # publisher combined with a subscriber
+  custom_executable(test_proto_typeadapt_cpp
+    "test/test_proto_typeadapt.cpp")
+  target_link_libraries(test_proto_typeadapt_cpp subscribe_types rcpputils::rcpputils)
+
+
+  set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+  if(WIN32)
+    set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+  endif()
+
+  # finding gtest once in the highest scope
+  # prevents finding it repeatedly in each local scope
+  ament_find_gtest()
+
+  custom_test(test_proto_typeadapt_cpp TRUE)
+
+endif()  # BUILD_TESTING
+
+
+
+ament_auto_package()