Implement and adapt RosSystem tests for the new attribute ComponentSt…

…acks
ipa320 · Aug 26, 2021 · e9279c9 · e9279c9
1 parent e4f53e6
commit e9279c9
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Showing 15 changed files with 328 additions and 29 deletions.
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks.rossystem b/plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks.rossystem
@@ -0,0 +1,43 @@
+RosSystem { Name 'test_stacks' 
+	RosComponentStacks (
+		ComponentStack {
+			name stack1 
+		    RosComponents (
+		    	ComponentInterface { name test_node 
+			    	FromRosNode "test_pkg.test_node.test_node"
+			    	RosPublishers{ RosPublisher "scan" { RefPublisher "test_pkg.test_node.test_node.scan"} } 
+			    	RosSubscribers{ RosSubscriber "power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state"} } 
+			    	RosSrvServers{ RosServiceServer "setBool" { RefServer "test_pkg.test_node.test_node.setBool"} } 
+			    	RosSrvClients{ RosServiceClient "init" { RefClient "test_pkg.test_node.test_node.init"} } 
+			    	RosParameters{ RosParameter "string_test" { RefParameter "test_pkg.test_node.test_node.string_test"}, 
+			    		RosParameter "bool_tets" { RefParameter "test_pkg.test_node.test_node.bool_tets"}, 
+			    		RosParameter "array_tets" { RefParameter "test_pkg.test_node.test_node.array_tets"}, 
+			    		RosParameter "base64_test" { RefParameter "test_pkg.test_node.test_node.base64_test"}, 
+			    		RosParameter "double_test" { RefParameter "test_pkg.test_node.test_node.double_test"}, 
+			    		RosParameter "int_test" { RefParameter "test_pkg.test_node.test_node.int_test"}, 
+			    		RosParameter "list_test" { RefParameter "test_pkg.test_node.test_node.list_test"}}}, 
+			    ComponentInterface { name test_node2 NameSpace test2 
+			    	FromRosNode "test_pkg.test_node.test_node"
+			    	RosPublishers { RosPublisher "scan" {  RefPublisher "test_pkg.test_node.test_node.scan" } } 
+			    	RosSubscribers { RosSubscriber "power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state" } } 
+			    	RosSrvServers { RosServiceServer "setBool" { RefServer "test_pkg.test_node.test_node.setBool" } } 
+			    	RosSrvClients { RosServiceClient "init" { RefClient "test_pkg.test_node.test_node.init" } } 
+			    	RosParameters { RosParameter "string_test" { RefParameter "test_pkg.test_node.test_node.string_test" } , 
+			    		RosParameter "bool_tets" { RefParameter "test_pkg.test_node.test_node.bool_tets" } , 
+			    		RosParameter "array_tets" { RefParameter "test_pkg.test_node.test_node.array_tets" } , 
+			    		RosParameter "base64_test" { RefParameter "test_pkg.test_node.test_node.base64_test" } , 
+			    		RosParameter "double_test" { RefParameter "test_pkg.test_node.test_node.double_test" } , 
+			    		RosParameter "int_test" { RefParameter "test_pkg.test_node.test_node.int_test" } , 
+			    		RosParameter "list_test" { RefParameter "test_pkg.test_node.test_node.list_test" }}})},
+		ComponentStack {
+			name stack2 
+			RosComponents ( 
+        		ComponentInterface { name test_nodea 
+		    	RosPublishers { RosPublisher power_state { RefPublisher "test_pkg.test_node.test_node.power_state" } } 
+		    	RosSubscribers { RosSubscriber scan { RefSubscriber "test_pkg.test_node.test_node.scan" } } 
+		    	RosSrvServers { RosServiceServer init { RefServer "test_pkg.test_node.test_node.init" } } 
+		    	RosSrvClients { RosServiceClient SetBool { RefClient "test_pkg.test_node.test_node.SetBool" }}}
+		    )
+		}		
+	)
+}
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/docker-compose.yml b/plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/docker-compose.yml
@@ -0,0 +1,35 @@
+version: "3.3"
+networks:
+  ros:
+    driver: bridge
+
+services:
+  ros-master:
+    image: ros:melodic-ros-core
+    command: stdbuf -o L roscore
+    networks:
+      - ros
+
+  test_stacks_stack1:
+    image: "test_stacks_stack1:latest"
+    depends_on:
+      - ros-master
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+      - "ROS_HOSTNAME=stack1"
+    networks:
+      - ros
+    command: stdbuf -o L roslaunch test_stacks_stack1 stack1.launch --wait
+
+  test_stacks_stack2:
+    image: "test_stacks_stack2:latest"
+    depends_on:
+      - ros-master
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+      - "ROS_HOSTNAME=stack2"
+    networks:
+      - ros
+    command: stdbuf -o L roslaunch test_stacks_stack2 stack2.launch --wait
+
+
diff --git a/...unhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/CMakeLists.txt b/...unhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(test_stacks_stack1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+
+### INSTALL ###
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/....fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/Dockerfile b/....fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/Dockerfile
@@ -0,0 +1,40 @@
+# syntax=docker/dockerfile:experimental
+ARG SUFFIX=
+ARG PREFIX=
+FROM ros:melodic-ros-core as base
+FROM ${PREFIX}builder${SUFFIX} as builder
+
+FROM base as build
+COPY . /root/ws/src/test_stacks_stack1/
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash build_workspace /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM build as test
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash test_workspace /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM build as install
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash install_workspace /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM install as full
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash install_depends /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM base as deploy
+RUN --mount=type=bind,from=builder,target=/builder --mount=type=bind,target=/root/ws,from=install,source=/root/ws \
+    apt-get update -qq && \
+    /builder/workspace.bash install_depends /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+COPY --from=install /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
+
+FROM deploy as launch
+CMD ["roslaunch", "test_stacks_stack1", "stack1.launch"]
diff --git a/...r.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/launch/stack1.launch b/...r.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/launch/stack1.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+
+  <node pkg="test_pkg" type="test_node" name="test_node" cwd="node" respawn="false" output="screen">
+  </node>
+  <node pkg="test_pkg" type="test_node" name="test_node2" ns="test2" cwd="node" respawn="false" output="screen">
+  </node>
+
+</launch>
diff --git a/...fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/package.xml b/...fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/package.xml
@@ -0,0 +1,18 @@
+<package format="2">
+  <name>test_stacks_stack1</name>
+  <version>0.0.1</version>
+  <description>This package provides launch file for operating test_stacks_stack1</description>
+
+  <license>Apache 2.0</license>
+
+  <url type="website">http://wiki.ros.org/</url>
+
+
+  <maintainer email="[email protected]">Jane Doe</maintainer>
+  <author email="[email protected]">Jane Doe</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>test_pkg</exec_depend>
+  <!--test_depend>roslaunch</test_depend-->
+
+</package>
diff --git a/...unhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/CMakeLists.txt b/...unhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(test_stacks_stack2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+
+### INSTALL ###
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/....fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/Dockerfile b/....fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/Dockerfile
@@ -0,0 +1,40 @@
+# syntax=docker/dockerfile:experimental
+ARG SUFFIX=
+ARG PREFIX=
+FROM ros:melodic-ros-core as base
+FROM ${PREFIX}builder${SUFFIX} as builder
+
+FROM base as build
+COPY . /root/ws/src/test_stacks_stack2/
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash build_workspace /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM build as test
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash test_workspace /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM build as install
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash install_workspace /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM install as full
+RUN --mount=type=bind,from=builder,target=/builder \
+    apt-get update -qq && \
+    /builder/workspace.bash install_depends /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+
+FROM base as deploy
+RUN --mount=type=bind,from=builder,target=/builder --mount=type=bind,target=/root/ws,from=install,source=/root/ws \
+    apt-get update -qq && \
+    /builder/workspace.bash install_depends /root/ws && \
+    rm -rf /var/lib/apt/lists/*
+COPY --from=install /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
+
+FROM deploy as launch
+CMD ["roslaunch", "test_stacks_stack2", "stack2.launch"]
diff --git a/...r.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/launch/stack2.launch b/...r.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/launch/stack2.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+
+  <node pkg="test_pkg" type="test_node" name="test_nodea" cwd="node" respawn="false" output="screen">
+  </node>
+
+</launch>
diff --git a/...fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/package.xml b/...fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/package.xml
@@ -0,0 +1,18 @@
+<package format="2">
+  <name>test_stacks_stack2</name>
+  <version>0.0.1</version>
+  <description>This package provides launch file for operating test_stacks_stack2</description>
+
+  <license>Apache 2.0</license>
+
+  <url type="website">http://wiki.ros.org/</url>
+
+
+  <maintainer email="[email protected]">Jane Doe</maintainer>
+  <author email="[email protected]">Jane Doe</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>test_pkg</exec_depend>
+  <!--test_depend>roslaunch</test_depend-->
+
+</package>
diff --git a/...s/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_system/launch/test_system.launch b/...s/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_system/launch/test_system.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="param1" value="hello"/>
-  <rosparam param="list">[1,2,a]</rosparam>
-  <rosparam param="list">[1,3]</rosparam>
-  <rosparam>
+<param name="param1" value="hello"/>
+<rosparam param="list">[1,2,a]</rosparam>
+<rosparam param="list">[1,3]</rosparam>
+<rosparam>
 first_element: 8
 third_element: dsd
-  </rosparam>
-                               
+</rosparam>
+
   <node pkg="test_pkg" type="test_node" name="test_node" cwd="node" respawn="false" output="screen">
     <remap from='scan' to='scan_rename' />
   </node>

diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_system/package.xml b/plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_system/package.xml
@@ -11,7 +11,6 @@
   <maintainer email="[email protected]">Jane Doe</maintainer>
   <author email="[email protected]">Jane Doe</author>
 
-
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>test_pkg</exec_depend>
   <!--test_depend>roslaunch</test_depend-->