add ci and test for native ros and mROS 2

.github/workflows/ci_humble.yaml

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+name: ci_humble
+
+on:
+  push:
+    branches:
+      - "main"
+      - "feat/add_ci_config"
+  pull_request:
+    types: [opened, synchronize, labeled]
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'main')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 5
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: update
+        run: sudo apt-get update
+      - name: setup and install tools
+        run: >
+          sudo apt-get install -y git wget build-essential gcc g++ libssl-dev libreadline-dev 
+          zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2
+      - name: Clone Test Stub
+        uses: actions/checkout@v3
+        with:
+          repository: mROS-base/mros2-host-examples
+          path: ws_host/src/mros2-host-examples
+      - name: Run IP update script
+        run: |
+          chmod +x update_ip.sh
+          ./update_ip.sh
+      - name: Build
+        run: |
+          pwd
+          ls -la
+          bash build.bash clean
+          bash build.bash all echoreply_string
+          mv cmake_build cmake_build_echo_reply_strting
+      - name: Build TestPrograms
+        run: |
+          pwd
+          ls -la
+          bash build.bash clean
+          bash build.bash all test_echoreply_string
+      - name: Buidl and Run test stub for Test with Comunicate Native ROS
+        shell: bash
+        run: |
+          cd ws_host/
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select mros2_echoreply_string
+          source install/setup.bash
+          ls -la
+          pwd
+          ros2 run mros2_echoreply_string echoreply_node &
+      - name: Run Test programs for Comunicate Native ROS
+        run : |
+          ./cmake_build/mros2-posix
+      # - name: Run Test for Comunicate mROS to mROS

update_ip.sh

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+#!/bin/bash
+
+# IPアドレスを取得
+IP_ADDRESS=$(hostname -I | awk '{print $1}')
+
+# IPアドレスをドットで分割
+IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS"
+
+# include/rtps/config.h のIPアドレス置換
+
+echo "Running sed on include/rtps/config.h"
+sed -i "s/[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\}[[:space:]]*}; \
+\/\/ Needs to be set in lwipcfg.h too./\
+${IP_PARTS[0]}, ${IP_PARTS[1]}, ${IP_PARTS[2]}, ${IP_PARTS[3]}};\
+\/\/ Needs to be set in lwipcfg.h too./" \
+include/rtps/config.h
+# 変更結果を確認
+
+# include/netif.h のIPアドレス置換
+sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' include/netif.h
+
+# 結果を表示して確認
+echo "Updated IP Address: $IP_ADDRESS"
+echo "Updated include/rtps/config.h:"
+grep -E  'Needs to be set in lwipcfg.h too.' include/rtps/config.h
+echo "Updated include/netif.h:"
+grep -E 'NETIF_IPADDR' include/netif.h

workspace/test_echoreply_string/Filelists.cmake

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+set(apl_SRCS
+	${PROJECT_SOURCE_DIR}/workspace/${MROS2_APPNAME}/app.cpp
+)

workspace/test_echoreply_string/app.cpp

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+
+/**
+ * このプログラムとechoreply_stringを使う
+ * 10回くらい送信して返ってくるかチェックする
+ */
+
+#include "mros2.h"
+#include "std_msgs/msg/string.hpp"
+
+#include "cmsis_os.h"
+#include "netif.h"
+#include "netif_posix_add.h"
+
+#include <stdio.h>
+#include <string.h>
+#include <pthread.h>
+
+bool result = true;
+auto TestMessagePreFix = "TestMessage";
+std::string expect = "";
+int sub_counter = 0;
+pthread_mutex_t mutex_expect_sting;
+
+void userCallback(std_msgs::msg::String *msg)
+{
+  pthread_mutex_lock(&mutex_expect_sting);
+  sub_counter++;
+  printf("*test count : %d\r\n", sub_counter);
+  auto actual = msg->data;
+  // FIXME 受信データに改行や不要な文字が含まれている模様
+  actual.erase(std::remove(actual.begin(), actual.end(), '\n'), actual.end());
+  actual.erase(std::remove(actual.begin(), actual.end(), '\r'), actual.end());
+
+  printf("expect : '%s',\r\nactural: '%s'\r\n", expect.c_str(), actual.c_str());
+  printf("expect length: %lu, actual length: %lu\r\n", expect.size(), actual.size());
+  if (strcmp(expect.c_str(), actual.c_str()) == 0)
+  {
+    printf("****SUCCEED****'\r\n");
+    result = result & true;
+  }
+  else
+  {
+    printf("FAIL different data responsed.\r\n");
+    result = result & false;
+  }
+  pthread_mutex_unlock(&mutex_expect_sting);
+  printf("\r\n");
+
+  if (sub_counter > 10)
+  {
+    if (result)
+    {
+      printf("All tests succeed.\r\n");
+      std::exit(0);
+    }
+    printf("Some tests faild.\r\n");
+    std::exit(-1);
+  }
+}
+
+int main(int argc, char *argv[])
+{
+  netif_posix_add(NETIF_IPADDR, NETIF_NETMASK);
+
+  osKernelStart();
+
+  printf("mros2-posix start!\r\n");
+  printf("app name: echoback_string\r\n");
+  mros2::init(0, NULL);
+  MROS2_DEBUG("mROS 2 initialization is completed\r\n");
+
+  mros2::Node node = mros2::Node::create_node("mros2_test_node");
+  mros2::Publisher pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
+  auto msg = std_msgs::msg::String();
+  msg.data = "initial";
+  pub.publish(msg);
+  osDelay(1000);
+  mros2::Subscriber sub = node.create_subscription<std_msgs::msg::String>("to_stm", 10, userCallback);
+
+  MROS2_INFO("ready to pub/sub message\r\n");
+  auto count = 0;
+  sub_counter = 0;
+  while (true)
+  {
+    auto msg = std_msgs::msg::String();
+    pthread_mutex_lock(&mutex_expect_sting);
+    expect = TestMessagePreFix + std::to_string(count++);
+    msg.data = expect;
+    printf("publishing msg: '%s'\r\n", msg.data.c_str());
+    pub.publish(msg);
+    pthread_mutex_unlock(&mutex_expect_sting);
+
+    osDelay(1000);
+  }
+
+  mros2::spin();
+  return 0;
+}

workspace/test_echoreply_string/templates.hpp

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+
+#include "std_msgs/msg/string.hpp"
+
+
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::String>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::String &msg);
+
+
+
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::String*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::String>(void *callee, const rtps::ReaderCacheChange &cacheChange);