Merge pull request #2021 from elBoberido/iox-1533-standalone-roudi-en…

…vironment iox-#1533 Standalone roudi environment
eclipse-iceoryx · Sep 22, 2023 · 4fb0b5f · 4fb0b5f
2 parents b1f39df + dd72966
commit 4fb0b5f
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Showing 50 changed files with 528 additions and 273 deletions.
diff --git a/.github/workflows/lint_pull_request.yml b/.github/workflows/lint_pull_request.yml
@@ -53,7 +53,7 @@ jobs:
           retention-days: 7
 
       - name: Link Checker
-        uses: lycheeverse/lychee-action@v1.5.4
+        uses: lycheeverse/lychee-action@v1.8.0
         with:
           fail: true
           args: --cache --insecure --max-cache-age 7d --verbose --no-progress './**/*.md' --github-token ${{secrets.GITHUB_TOKEN}} --max-concurrency 1
diff --git a/.github/workflows/release_build_publish.yml b/.github/workflows/release_build_publish.yml
@@ -47,7 +47,7 @@ jobs:
           $GITHUB_WORKSPACE/tools/iceoryx_build_test.sh clean package
 
       - name: Upload release artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
           name: release_artifacts
           path: ./build_package/iceoryx*.deb
@@ -59,7 +59,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Download release artifacts
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           name: release_artifacts
 

diff --git a/doc/design/diagrams/iceoryx_components_diagram_v3_0_0.puml b/doc/design/diagrams/iceoryx_components_diagram_v3_0_0.puml
@@ -24,7 +24,6 @@ skinparam frame {
 ' @todo #539
 ' RouDi split, separate files and namespaces for static/dynamic discovery
 ' Implement exported libraries (add_library in iceoryx_posh/CMakeLists.txt)
-' RouDiEnvironment shall not be in roudi namespace, but in testing
 
 header Eclipse iceoryx component overview
 

diff --git a/doc/website/images/iceoryx_components_diagram_v3_0_0.svg b/doc/website/images/iceoryx_components_diagram_v3_0_0.svg
diff --git a/doc/website/release-notes/iceoryx-unreleased.md b/doc/website/release-notes/iceoryx-unreleased.md
@@ -160,6 +160,7 @@
 - Better align `iox::expected` with `std::expected` [\#1969](https://github.com/eclipse-iceoryx/iceoryx/issues/1969)
 - Use logger for "RouDi is ready for clients" message [\#1994](https://github.com/eclipse-iceoryx/iceoryx/issues/1994)
 - Speed up posh tests [#1030](https://github.com/eclipse-iceoryx/iceoryx/issues/1030)
+- Roudi Environment independent from Googletest [#1533](https://github.com/eclipse-iceoryx/iceoryx/issues/1533)
 
 **Workflow:**
 
@@ -1181,3 +1182,33 @@
     };
 
     ```
+
+53. `iox::roudi::RouDiEnvironment` is moved to `iox::roudi_env::RouDiEnv` and in a separate library
+
+    There is still an alias on the old location with a deprecation warning. The API also changed a bit.
+    ```cpp
+    // before
+    #include "iceoryx_posh/testing/roudi_environment/roudi_environment.hpp"
+    iox::roudi::RouDiEnvironment roudiEnv{/*config*/};
+
+    // after
+    #include "iceoryx_posh/roudi_env/roudi_environment.hpp"
+    iox::roudi_env::RouDiEnv roudiEnv{/*config*/};
+
+
+    // before
+    roudiEnv.InterOpWait();
+
+    // after
+    roudiEnv.triggerDiscoveryLoopAndWaitToFinish();
+
+
+    // before
+    roudiEnv.SetInterOpWaitingTime(/*chrono*/);
+
+    // after
+    roudiEnv.setDiscoveryLoopWaitToFinishTimeout(/*units::Duration*/);
+
+    ```
+
+    It is now also possible to directly link to `iceoryx_posh::iceoryx_posh_roudi_env` which has no dependency to gTest.
diff --git a/iceoryx_binding_c/test/BUILD.bazel b/iceoryx_binding_c/test/BUILD.bazel
@@ -43,6 +43,7 @@ cc_test(
         "//iceoryx_binding_c",
         "//iceoryx_hoofs:iceoryx_hoofs_testing",
         "//iceoryx_posh",
+        "//iceoryx_posh:iceoryx_posh_roudi_env",
         "//iceoryx_posh:iceoryx_posh_testing",
     ],
 )
diff --git a/iceoryx_binding_c/test/moduletests/test_chunk.cpp b/iceoryx_binding_c/test/moduletests/test_chunk.cpp
@@ -22,13 +22,15 @@ extern "C" {
 
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
-#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
+#include "iceoryx_posh/roudi_env/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 
 namespace
 {
+using namespace ::testing;
 using namespace iox;
 using namespace iox::mepoo;
+using namespace iox::roudi_env;
 using namespace iox::testing;
 
 class Chunk_test : public RouDi_GTest

diff --git a/iceoryx_binding_c/test/moduletests/test_node.cpp b/iceoryx_binding_c/test/moduletests/test_node.cpp
@@ -17,8 +17,8 @@
 
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
+#include "iceoryx_posh/roudi_env/minimal_roudi_config.hpp"
 #include "iceoryx_posh/runtime/posh_runtime.hpp"
-#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 #include <gtest/gtest.h>
 
@@ -29,8 +29,10 @@ extern "C" {
 
 namespace
 {
+using namespace ::testing;
 using namespace iox;
 using namespace iox::runtime;
+using namespace iox::roudi_env;
 using namespace iox::testing;
 
 class iox_node_test : public RouDi_GTest

diff --git a/iceoryx_binding_c/test/moduletests/test_publisher.cpp b/iceoryx_binding_c/test/moduletests/test_publisher.cpp
@@ -24,8 +24,8 @@
 #include "iceoryx_posh/internal/popo/ports/publisher_port_roudi.hpp"
 #include "iceoryx_posh/internal/popo/ports/publisher_port_user.hpp"
 #include "iceoryx_posh/mepoo/mepoo_config.hpp"
-#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
-#include "iceoryx_posh/testing/roudi_environment/roudi_environment.hpp"
+#include "iceoryx_posh/roudi_env/minimal_roudi_config.hpp"
+#include "iceoryx_posh/roudi_env/roudi_env.hpp"
 
 using namespace iox;
 using namespace iox::popo;
@@ -42,6 +42,7 @@ namespace
 {
 using namespace ::testing;
 using namespace iox::testing;
+using namespace iox::roudi_env;
 using namespace iox::capro;
 using namespace iox::cxx;
 using namespace iox::mepoo;
@@ -143,7 +144,7 @@ TEST(iox_pub_test_DeathTest, initPublisherWithNotInitializedPublisherOptionsTerm
 TEST_F(iox_pub_test, initPublisherWithDefaultOptionsWorks)
 {
     ::testing::Test::RecordProperty("TEST_ID", "d2e677cd-2fcc-47a2-80e6-2d08245b7c1a");
-    iox::roudi::RouDiEnvironment roudiEnv{MinimalRouDiConfigBuilder().create()};
+    iox::roudi_env::RouDiEnv roudiEnv{MinimalRouDiConfigBuilder().create()};
 
     iox_runtime_init("hypnotoad");
 

diff --git a/iceoryx_binding_c/test/moduletests/test_runtime.cpp b/iceoryx_binding_c/test/moduletests/test_runtime.cpp
@@ -21,13 +21,15 @@ extern "C" {
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
-#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
+#include "iceoryx_posh/roudi_env/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 
 namespace
 {
+using namespace ::testing;
 using namespace iox;
 using namespace iox::runtime;
+using namespace iox::roudi_env;
 using namespace iox::testing;
 
 class BindingC_Runtime_test : public RouDi_GTest

diff --git a/iceoryx_binding_c/test/moduletests/test_service_discovery.cpp b/iceoryx_binding_c/test/moduletests/test_service_discovery.cpp
@@ -16,12 +16,13 @@
 
 #include "iceoryx_hoofs/error_handling/error_handling.hpp"
 #include "iceoryx_hoofs/testing/fatal_failure.hpp"
+#include "iceoryx_posh/roudi_env/minimal_roudi_config.hpp"
 #include "iceoryx_posh/runtime/service_discovery.hpp"
-#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
 #include "iceoryx_posh/testing/roudi_gtest.hpp"
 
 using namespace iox;
 using namespace iox::runtime;
+using namespace iox::roudi_env;
 using namespace iox::testing;
 
 extern "C" {
@@ -83,7 +84,7 @@ TEST_F(iox_service_discovery_test,
     ::testing::Test::RecordProperty("TEST_ID", "09a2cd6c-fba9-4b9d-af96-c5a6cc168d98");
 
     // let the roudi discovery loop run at least once
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     iox_service_discovery_find_service_apply_callable_with_context_data(
         sut, nullptr, nullptr, nullptr, findHandler, &searchResult, MessagingPattern_PUB_SUB);
@@ -103,7 +104,7 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableAndContextDataReturnsO
     ASSERT_NE(publisher, nullptr);
     const iox_service_description_t SERVICE_DESCRIPTION = iox_pub_get_service_description(publisher);
 
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     iox_service_discovery_find_service_apply_callable_with_context_data(sut,
                                                                         SERVICE_DESCRIPTION.serviceString,
@@ -124,7 +125,7 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableWithNullptrsForService
 {
     ::testing::Test::RecordProperty("TEST_ID", "ec565ca3-7494-42d7-9440-2000f1513759");
 
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     auto findHandler = [](const iox_service_description_t s) { EXPECT_THAT(s.instanceString, StrEq("RouDi_ID")); };
     iox_service_discovery_find_service_apply_callable(
@@ -140,7 +141,7 @@ TEST_F(iox_service_discovery_test, FindServiceWithCallableReturnsFindsCorrectSer
     auto* publisher = iox_pub_init(&storage, "service", "instance", "event", &options);
     ASSERT_NE(publisher, nullptr);
 
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     auto findHandler = [](const iox_service_description_t s) {
         EXPECT_THAT(s.serviceString, StrEq("service"));
@@ -157,7 +158,7 @@ TEST_F(iox_service_discovery_test, FindServiceWithNullptrsForServiceInstanceEven
 {
     ::testing::Test::RecordProperty("TEST_ID", "75b411d7-b8c7-42d5-8acd-3916fd172081");
 
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     const uint64_t SERVICE_CONTAINER_CAPACITY = 10U;
     iox_service_description_t serviceContainer[SERVICE_CONTAINER_CAPACITY];
@@ -189,7 +190,7 @@ TEST_F(iox_service_discovery_test, FindServiceReturnsOfferedService)
     ASSERT_NE(publisher, nullptr);
     const iox_service_description_t SERVICE_DESCRIPTION = iox_pub_get_service_description(publisher);
 
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     const uint64_t SERVICE_CONTAINER_CAPACITY = 10U;
     iox_service_description_t serviceContainer[SERVICE_CONTAINER_CAPACITY];
@@ -216,7 +217,7 @@ TEST_F(iox_service_discovery_test, FindServiceReturnsCorrectNumberOfServicesWhen
 {
     ::testing::Test::RecordProperty("TEST_ID", "01047b88-f257-447c-8c5e-9bef7c358433");
 
-    InterOpWait();
+    triggerDiscoveryLoopAndWaitToFinish();
 
     const uint64_t SERVICE_CONTAINER_CAPACITY = 3U;
     iox_service_description_t serviceContainer[SERVICE_CONTAINER_CAPACITY];

diff --git a/iceoryx_binding_c/test/moduletests/test_subscriber.cpp b/iceoryx_binding_c/test/moduletests/test_subscriber.cpp
@@ -26,12 +26,13 @@
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_single_producer.hpp"
 #include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
 #include "iceoryx_posh/mepoo/mepoo_config.hpp"
-#include "iceoryx_posh/testing/roudi_environment/minimal_roudi_config.hpp"
-#include "iceoryx_posh/testing/roudi_environment/roudi_environment.hpp"
+#include "iceoryx_posh/roudi_env/minimal_roudi_config.hpp"
+#include "iceoryx_posh/roudi_env/roudi_env.hpp"
 #include "mocks/wait_set_mock.hpp"
 
 using namespace iox;
 using namespace iox::popo;
+using namespace iox::roudi_env;
 using namespace iox::testing;
 
 extern "C" {
@@ -148,7 +149,7 @@ TEST_F(iox_sub_test, initSubscriberWithNotInitializedSubscriberOptionsTerminates
 TEST_F(iox_sub_test, initSubscriberWithDefaultOptionsWorks)
 {
     ::testing::Test::RecordProperty("TEST_ID", "40eaa006-4781-46cd-bde3-40fa7d572f29");
-    iox::roudi::RouDiEnvironment roudiEnv{MinimalRouDiConfigBuilder().create()};
+    RouDiEnv roudiEnv{MinimalRouDiConfigBuilder().create()};
 
     iox_runtime_init("hypnotoad");
 
@@ -405,7 +406,7 @@ TEST_F(iox_sub_test, hasDataTriggersWaitSetWithCorrectCallback)
 TEST_F(iox_sub_test, deinitSubscriberDetachesTriggerFromWaitSet)
 {
     ::testing::Test::RecordProperty("TEST_ID", "93e350fb-5430-43ff-982b-b43c6ae9b890");
-    iox::roudi::RouDiEnvironment roudiEnv{MinimalRouDiConfigBuilder().create()};
+    RouDiEnv roudiEnv{MinimalRouDiConfigBuilder().create()};
     iox_runtime_init("hypnotoad");
 
     iox_sub_storage_t storage;

diff --git a/iceoryx_hoofs/test/moduletests/test_unix_domain_sockets.cpp b/iceoryx_hoofs/test/moduletests/test_unix_domain_sockets.cpp
@@ -115,14 +115,14 @@ class UnixDomainSocket_test : public Test
                                 .maxMsgSize(UnixDomainSocket::MAX_MESSAGE_SIZE)
                                 .maxMsgNumber(MaxMsgNumber)
                                 .create()
-                                .expect("Valid UnixDomainSocket")};
+                                .expect("Failed to create UnixDomainSocket")};
     UnixDomainSocket client{UnixDomainSocketBuilder()
                                 .name(goodName)
                                 .channelSide(IpcChannelSide::CLIENT)
                                 .maxMsgSize(UnixDomainSocket::MAX_MESSAGE_SIZE)
                                 .maxMsgNumber(MaxMsgNumber)
                                 .create()
-                                .expect("Valid UnixDomainSocket")};
+                                .expect("Failed to create UnixDomainSocket")};
 };
 
 constexpr uint64_t UnixDomainSocket_test::MaxMsgNumber;

diff --git a/iceoryx_posh/BUILD.bazel b/iceoryx_posh/BUILD.bazel
@@ -190,6 +190,22 @@ cc_binary(
     ],
 )
 
+#
+########## build iceoryx posh roudi env lib ##########
+#
+cc_library(
+    name = "iceoryx_posh_roudi_env",
+    srcs = glob(["roudi_env/**/*.cpp"]),
+    hdrs = glob(["roudi_env/include/**"]),
+    strip_include_prefix = "roudi_env/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":iceoryx_posh",
+        ":iceoryx_posh_roudi",
+        "//iceoryx_hoofs",
+    ],
+)
+
 #
 ########## build iceoryx posh testing lib ##########
 #
@@ -202,6 +218,7 @@ cc_library(
     deps = [
         ":iceoryx_posh",
         ":iceoryx_posh_roudi",
+        ":iceoryx_posh_roudi_env",
         "//iceoryx_hoofs:iceoryx_hoofs_testing",
         "@googletest//:gtest",
     ],

diff --git a/iceoryx_posh/CMakeLists.txt b/iceoryx_posh/CMakeLists.txt
@@ -299,8 +299,12 @@ setup_install_directories_and_export_package(
     INCLUDE_DIRECTORIES include/
 )
 
-add_subdirectory(testing)
+
+if(ROUDI_ENVIRONMENT OR BUILD_TEST)
+    add_subdirectory(roudi_env)
+endif()
 
 if(BUILD_TEST)
+    add_subdirectory(testing)
     add_subdirectory(test)
 endif()
diff --git a/iceoryx_posh/cmake/iceoryx_posh_roudi_env.cmake b/iceoryx_posh/cmake/iceoryx_posh_roudi_env.cmake
@@ -0,0 +1,27 @@
+# Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+#
+########## dummyConfig.cmake to be able to use find_package with the source tree ##########
+#
+
+if(NOT ${CMAKE_FIND_PACKAGE_NAME}_FOUND_PRINTED)
+    message(STATUS "The package '${CMAKE_FIND_PACKAGE_NAME}' is used in source code version.")
+    set(${CMAKE_FIND_PACKAGE_NAME}_FOUND_PRINTED true CACHE INTERNAL "")
+endif()
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
+