updated tests

.github/workflows/ros_build_test.yml

@@ -7,6 +7,7 @@ on:
 
     paths-ignore:
       - '**/README.md'
+      - 'test/**'
 
   pull_request:
     branches: [ master ]

.github/workflows/ros_package_build.yml

@@ -7,6 +7,7 @@ on:
 
     paths-ignore:
       - '**/README.md'
+      - 'test/**'
 
   workflow_dispatch:
 

test/control_manager/goto/test.cpp

@@ -1,5 +1,4 @@
 #include <ros/ros.h>
-#include <ros/package.h>
 
 #include <mrs_lib/subscribe_handler.h>
 #include <mrs_lib/service_client_handler.h>
@@ -50,7 +49,7 @@ TEST(TESTSuite, goto) {
   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estim_manager_diag =
       mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "/" + uav_name + "/estimation_manager/diagnostics");
 
-  std::cout << "[Test]: subscribers initialized" << std::endl;
+  ROS_INFO("[%s]: subscribers initialized", ros::this_node::getName().c_str());
 
   // | --------------------- service clients -------------------- |
 
@@ -59,13 +58,13 @@ TEST(TESTSuite, goto) {
       mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh, "/" + uav_name + "/uav_manager/midair_activation");
   mrs_lib::ServiceClientHandler<mrs_msgs::Vec4> sch_goto = mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>(nh, "/" + uav_name + "/control_manager/goto");
 
-  std::cout << "[Test]: service clients initialized" << std::endl;
+  ROS_INFO("[%s]: service client initialized", ros::this_node::getName().c_str());
 
   // | ---------------- wait for ready to takeoff --------------- |
 
   while (ros::ok()) {
 
-    std::cout << "[Test]: waiting for 'ready to midair activation'" << std::endl;
+    ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the MRS UAV System", ros::this_node::getName().c_str());
 
     if (sh_control_manager_diag.hasMsg() && sh_estim_manager_diag.hasMsg()) {
       break;
@@ -75,13 +74,13 @@ TEST(TESTSuite, goto) {
     ros::Duration(0.1).sleep();
   }
 
-  std::cout << "[Test]: we are ready 'for midair activation'" << std::endl;
+  ROS_INFO("[%s]: MRS UAV System is ready", ros::this_node::getName().c_str());
 
   ros::Duration(1.0).sleep();
 
   // | ---------------------- arm the drone --------------------- |
 
-  std::cout << "[Test]: arming the drone" << std::endl;
+  ROS_INFO("[%s]: arming th edrone", ros::this_node::getName().c_str());
 
   std_srvs::SetBool arming;
   arming.request.data = true;
@@ -94,7 +93,7 @@ TEST(TESTSuite, goto) {
 
   // | -------------------- midair activation ------------------- |
 
-  std::cout << "[Test]: activating the drone 'in mid air'" << std::endl;
+  ROS_INFO("[%s]: activating the drone 'in mid air'", ros::this_node::getName().c_str());
 
   std_srvs::Trigger midair;
 
@@ -115,15 +114,15 @@ TEST(TESTSuite, goto) {
   goto_cmd.request.goal[2] = 5.5;
   goto_cmd.request.goal[3] = 2.2;
 
-  std::cout << "[Test]: calling goto" << std::endl;
+  ROS_INFO("[%s]: calling goto", ros::this_node::getName().c_str());
 
   sch_goto.call(goto_cmd);
 
   // | ------------------ check for the result ------------------ |
 
   while (ros::ok()) {
 
-    std::cout << "[Test]: waiting for the goto" << std::endl;
+    ROS_INFO_THROTTLE(1.0, "[%s]: waiting for goto", ros::this_node::getName().c_str());
 
     auto diag = sh_estim_manager_diag.getMsg();
 
@@ -138,7 +137,7 @@ TEST(TESTSuite, goto) {
     }
 
     ros::spinOnce();
-    ros::Duration(1.0).sleep();
+    ros::Duration(0.01).sleep();
   }
 
   ROS_INFO("[%s]: finished", ros::this_node::getName().c_str());

test/run_tests.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+PACKAGE="mrs_uav_managers"
+VERBOSE=1
+
+[ "$VERBOSE" = "0" ] && TEXT_OUTPUT=""
+[ "$VERBOSE" = "1" ] && TEXT_OUTPUT="-t"
+
+# build the package
+catkin build $PACKAGE # it has to be fully built normally before building with --catkin-make-args tests
+catkin build $PACKAGE --catkin-make-args tests
+
+TEST_FILES=$(find . -name "*.test" -type f -printf "%f\n")
+
+for TEST_FILE in `echo $TEST_FILES`; do
+
+  # folder for test results
+  TEST_RESULT_PATH=$(realpath /tmp/$RANDOM)
+  mkdir -p $TEST_RESULT_PATH
+
+  # run the test
+  rostest $PACKAGE $TEST_FILE $TEXT_OUTPUT --results-filename=$PACKAGE.test --results-base-dir="$TEST_RESULT_PATH"
+
+  # evaluate the test results
+  echo test result path is $TEST_RESULT_PATH
+  catkin_test_results "$TEST_RESULT_PATH"
+
+done

test/uav_manager/takeoff/test.cpp

@@ -12,10 +12,6 @@
 #include <std_srvs/SetBool.h>
 #include <std_srvs/Trigger.h>
 
-#include <ros/package.h>
-
-#include <boost/process.hpp>
-
 /* TEST(TESTSuite, takeoff) //{ */
 
 TEST(TESTSuite, takeoff) {
@@ -24,10 +20,10 @@ TEST(TESTSuite, takeoff) {
 
   // | ------------------ initialize test node ------------------ |
 
-  std::cout << "[Test]: initializing the test node" << std::endl;
-
   ros::NodeHandle nh = ros::NodeHandle("~");
 
+  ROS_INFO("[%s]: ROS node initialized", ros::this_node::getName().c_str());
+
   ros::Time::waitForValid();
 
   std::string uav_name = "uav1";
@@ -48,20 +44,20 @@ TEST(TESTSuite, takeoff) {
   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag =
       mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "/" + uav_name + "/control_manager/diagnostics");
 
-  std::cout << "[Test]: subscribers initialized" << std::endl;
+  ROS_INFO("[%s]: subscribers initialized", ros::this_node::getName().c_str());
 
   // | --------------------- service clients -------------------- |
 
   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh, "/" + uav_name + "/hw_api/arming");
   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_offboard = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh, "/" + uav_name + "/hw_api/offboard");
 
-  std::cout << "[Test]: service clients initialized" << std::endl;
+  ROS_INFO("[%s]: service clients initialized", ros::this_node::getName().c_str());
 
   // | ---------------- wait for ready to takeoff --------------- |
 
   while (ros::ok()) {
 
-    std::cout << "[Test]: waiting for 'ready to takeoff'" << std::endl;
+    ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the MRS UAV System", ros::this_node::getName().c_str());
 
     if (sh_can_takeoff.hasMsg() && sh_can_takeoff.getMsg()->data) {
       break;
@@ -71,11 +67,9 @@ TEST(TESTSuite, takeoff) {
     ros::Duration(0.1).sleep();
   }
 
-  std::cout << "[Test]: ready for takeoff" << std::endl;
-
   // | ---------------------- arm the drone --------------------- |
 
-  std::cout << "[Test]: arming the drone" << std::endl;
+  ROS_INFO("[%s]: arming the drone", ros::this_node::getName().c_str());
 
   std_srvs::SetBool arming;
   arming.request.data = true;
@@ -88,7 +82,7 @@ TEST(TESTSuite, takeoff) {
 
   // | -------------------- trigger offboard -------------------- |
 
-  std::cout << "[Test]: triggering offboard" << std::endl;
+  ROS_INFO("[%s]: triggering offboard", ros::this_node::getName().c_str());
 
   std_srvs::Trigger offboard;
 
@@ -98,7 +92,7 @@ TEST(TESTSuite, takeoff) {
 
   while (ros::ok()) {
 
-    std::cout << "[Test]: waiting for the takeoff to finish" << std::endl;
+    ROS_INFO_THROTTLE(1.0, "[%s]: waiting for the takeoff to finish", ros::this_node::getName().c_str());
 
     if (sh_control_manager_diag.getMsg()->flying_normally) {
       result = 1;
@@ -109,7 +103,7 @@ TEST(TESTSuite, takeoff) {
     ros::Duration(0.1).sleep();
   }
 
-  std::cout << "[Test]: finished" << std::endl;
+  ROS_INFO("[%s]: finished", ros::this_node::getName().c_str());
 
   EXPECT_TRUE(result);
 }
@@ -120,7 +114,7 @@ int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) {
 
   testing::InitGoogleTest(&argc, argv);
 
-  ros::init(argc, argv, "Test");
+  ros::init(argc, argv, "takeoff_test");
 
   return RUN_ALL_TESTS();
 }