update tests for the ROS2 code generator

ipa320 · May 25, 2021 · 1c73bc0 · 1c73bc0
1 parent 076736d
commit 1c73bc0
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Showing 5 changed files with 67 additions and 10 deletions.
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/ros2generator/test_pkg/CMakeLists.txt b/plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/ros2generator/test_pkg/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.5)
+project(test_pkg)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(Boost REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_executable(test_node src/test_node.cpp)
+ament_target_dependencies(test_node std_srvs sensor_msgs )
+
+install(TARGETS
+  test_node
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/ros2generator/test_pkg/package.xml b/plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/ros2generator/test_pkg/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>test_pkg</name>
+ <version>0.0.0</version>
+ <description>This package contains the implementation of the node test_node</description>
+  <maintainer email="[email protected]">Jane Doe</maintainer>
+  <author email="[email protected]">Jane Doe</author>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>boost</depend>
+  <depend>rclcpp</depend>
+  <depend>std_srvs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/...sts/resources/ros2generator/test_node.cpp → .../ros2generator/test_pkg/src/test_node.cpp b/...sts/resources/ros2generator/test_node.cpp → .../ros2generator/test_pkg/src/test_node.cpp
diff --git a/.../de.fraunhofer.ipa.ros.xtext.tests/src/de/fraunhofer/ipa/ros/tests/RosGeneratorTest.xtend b/.../de.fraunhofer.ipa.ros.xtext.tests/src/de/fraunhofer/ipa/ros/tests/RosGeneratorTest.xtend
@@ -63,10 +63,16 @@ class RosGeneratorTest {
 
 		val fsa = new InMemoryFileSystemAccess
 		ros2Generator.doGenerate(model.eResource, fsa, new GeneratorContext)
-		Assert.assertTrue(fsa.textFiles.containsKey(CustomOutputProvider::DEFAULT_OUTPUT + "test_node.cpp"))
+		Assert.assertTrue(fsa.textFiles.containsKey(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/package.xml"))
 		Assert.assertEquals(
-			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator', 'test_node.cpp'))).trim,
-			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_node.cpp").toString.trim)
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator/test_pkg/src/','test_node.cpp'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/src/test_node.cpp").toString.trim)
+		Assert.assertEquals(
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator/test_pkg/','CMakeLists.txt'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/CMakeLists.txt").toString.trim)
+		Assert.assertEquals(
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator/test_pkg/','package.xml'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/package.xml").toString.trim)
 	}
 
 	@Test

diff --git a/...fer.ipa.roscode.generator/src/de/fraunhofer/ipa/roscode/generator/Ros2CodeGenerator.xtend b/...fer.ipa.roscode.generator/src/de/fraunhofer/ipa/roscode/generator/Ros2CodeGenerator.xtend
@@ -1,16 +1,15 @@
 package de.fraunhofer.ipa.roscode.generator
 
+import java.util.ArrayList
+import java.util.HashSet
+import java.util.List
+import java.util.Set
 import org.eclipse.emf.ecore.resource.Resource
 import org.eclipse.xtext.generator.AbstractGenerator
 import org.eclipse.xtext.generator.IFileSystemAccess2
 import org.eclipse.xtext.generator.IGeneratorContext
-import org.eclipse.xtext.generator.IOutputConfigurationProvider
-import org.eclipse.xtext.generator.OutputConfiguration
-import java.util.Set
-import ros.*
-import java.util.List
-import java.util.ArrayList
-import java.util.HashSet
+import ros.Node
+import ros.Package
 
 /**
  * Generates code from your model files on save.