Fixing ntp launchtest (ros#330)

- using a launchtest

---------

Signed-off-by: Christian Henkel <[email protected]>

.github/workflows/test.yaml

@@ -33,10 +33,6 @@ jobs:
     container: ubuntu:${{ matrix.os }}
     steps:
       - uses: ros-tooling/setup-ros@master
-      # - run: |
-      #     sudo apt install -y python3-pip
-      #     pip3 install --break-system-packages 'flake8<5' # fix flake8.exceptions.FailedToLoadPlugin: Flake8 failed to load plugin "pycodestyle" due to cannot import name 'missing_whitespace_around_operator' from 'pycodestyle' (/usr/lib/python3/dist-packages/pycodestyle.py).
-      #   if: ${{ matrix.os == '24.04' }}
       - uses: ros-tooling/action-ros-ci@master
         with:
           target-ros2-distro: ${{ matrix.distro }}

diagnostic_common_diagnostics/CMakeLists.txt

@@ -15,17 +15,18 @@ install(PROGRAMS
 
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
+    find_package(launch_testing_ament_cmake REQUIRED)
     ament_lint_auto_find_test_dependencies()
 
     find_package(ament_cmake_pytest REQUIRED)
     ament_add_pytest_test(
         test_cpu_monitor
         test/systemtest/test_cpu_monitor.py
         TIMEOUT 10)
-    ament_add_pytest_test(
-        test_ntp_monitor
-        test/systemtest/test_ntp_monitor.py
-        TIMEOUT 10)
+    add_launch_test(
+        test/systemtest/test_ntp_monitor_launchtest.py
+        TARGET ntp_monitor_launchtest
+        TIMEOUT 20)
 endif()
 
 ament_package()

diagnostic_common_diagnostics/diagnostic_common_diagnostics/ntp_monitor.py

@@ -47,13 +47,14 @@
 class NTPMonitor(Node):
     """A diagnostic task that monitors the NTP offset of the system clock."""
 
-    def __init__(self, ntp_hostname, offset=500, self_offset=500,
+    def __init__(self, ntp_hostname, ntp_port, offset=500, self_offset=500,
                  diag_hostname=None, error_offset=5000000,
                  do_self_test=True):
         """Initialize the NTPMonitor."""
         super().__init__(__class__.__name__)
 
         self.ntp_hostname = ntp_hostname
+        self.ntp_port = ntp_port
         self.offset = offset
         self.self_offset = self_offset
         self.diag_hostname = diag_hostname
@@ -67,7 +68,8 @@ def __init__(self, ntp_hostname, offset=500, self_offset=500,
         self.stat = DIAG.DiagnosticStatus()
         self.stat.level = DIAG.DiagnosticStatus.OK
         self.stat.name = 'NTP offset from ' + \
-            self.diag_hostname + ' to ' + self.ntp_hostname
+            self.diag_hostname + ' to ' + self.ntp_hostname + \
+            ':' + str(self.ntp_port)
         self.stat.message = 'OK'
         self.stat.hardware_id = self.hostname
         self.stat.values = []
@@ -127,7 +129,10 @@ def add_kv(stat_values, key, value):
         ntp_client = ntplib.NTPClient()
         response = None
         try:
-            response = ntp_client.request(self.ntp_hostname, version=3)
+            response = ntp_client.request(
+                self.ntp_hostname,
+                port=self.ntp_port,
+                version=3)
         except ntplib.NTPException as e:
             self.get_logger().error(f'NTP Error: {e}')
             st.level = DIAG.DiagnosticStatus.ERROR
@@ -155,11 +160,17 @@ def add_kv(stat_values, key, value):
 
 
 def ntp_monitor_main(argv=sys.argv[1:]):
+    # filter out ROS args
+    argv = [a for a in argv if not a.startswith('__') and not a == '--ros-args' and not a == '-r']
+
     import argparse
     parser = argparse.ArgumentParser()
     parser.add_argument('--ntp_hostname',
                         action='store', default='0.pool.ntp.org',
                         type=str)
+    parser.add_argument('--ntp_port',
+                        action='store', default=123,
+                        type=int)
     parser.add_argument('--offset-tolerance', dest='offset_tol',
                         action='store', default=500,
                         help='Offset from NTP host [us]', metavar='OFFSET-TOL',
@@ -188,7 +199,8 @@ def ntp_monitor_main(argv=sys.argv[1:]):
     assert offset < error_offset, \
         'Offset tolerance must be less than error offset tolerance'
 
-    ntp_monitor = NTPMonitor(args.ntp_hostname, offset, self_offset,
+    ntp_monitor = NTPMonitor(args.ntp_hostname, args.ntp_port,
+                             offset, self_offset,
                              args.diag_hostname, error_offset,
                              args.do_self_test)
 

diagnostic_common_diagnostics/package.xml

@@ -33,6 +33,7 @@
   <test_depend>ament_cmake_lint_cmake</test_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diagnostic_common_diagnostics/test/systemtest/test_ntp_monitor_launchtest.py

@@ -32,60 +32,84 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import os
+import unittest
 
-import ament_index_python
+from diagnostic_msgs.msg import DiagnosticArray
 
 import launch
 
-import launch_pytest
-from launch_pytest.tools import process as process_tools
+import launch_ros
 
 import launch_testing
 
+from launch_testing_ros import WaitForTopics
+
 import pytest
 
+import rclpy
+
 
-@pytest.fixture
-def ntp_monitor_proc():
-    # Launch a process to test
-    return launch.actions.ExecuteProcess(
-        cmd=[
-            os.path.join(
-                ament_index_python.get_package_prefix(
-                    'diagnostic_common_diagnostics'),
-                'lib',
-                'diagnostic_common_diagnostics',
-                'ntp_monitor.py'
-            ),
-        ],
-    ),
-
-
-@launch_pytest.fixture
-def launch_description(ntp_monitor_proc):
+@pytest.mark.launch_test
+def generate_test_description():
+    """Launch the ntp_monitor node and return a launch description."""
     return launch.LaunchDescription([
-        ntp_monitor_proc,
+        launch_ros.actions.Node(
+            package='diagnostic_common_diagnostics',
+            executable='ntp_monitor.py',
+            name='ntp_monitor',
+            output='screen',
+            arguments=['--offset-tolerance', '10000',
+                       '--error-offset-tolerance', '20000']
+            # 10s, 20s, we are not testing if your clock is correct
+        ),
         launch_testing.actions.ReadyToTest()
     ])
 
 
-@pytest.mark.skip(reason='This test is not working yet')
-@pytest.mark.launch(fixture=launch_description)
-def test_read_stdout(ntp_monitor_proc, launch_context):
-    """Check if 'ntp_monitor' was found in the stdout."""
-    def validate_output(output):
-        # this function can use assertions to validate the output or return a boolean.
-        # pytest generates easier to understand failures when assertions are used.
-        assert output.splitlines() == [
-            'ntp_monitor'], 'process never printed ntp_monitor'
-    process_tools.assert_output_sync(
-        launch_context, ntp_monitor_proc, validate_output, timeout=5)
-
-    def validate_output(output):
-        return output == 'this will never happen'
-    assert not process_tools.wait_for_output_sync(
-        launch_context, ntp_monitor_proc, validate_output, timeout=0.1)
-    yield
-    # this is executed after launch service shutdown
-    assert ntp_monitor_proc.return_code == 0
+class TestNtpMonitor(unittest.TestCase):
+    """Test if the ntp_monitor node is publishing diagnostics."""
+
+    def __init__(self, methodName: str = 'runTest') -> None:
+        super().__init__(methodName)
+        self.received_messages = []
+
+    def _received_message(self, msg):
+        self.received_messages.append(msg)
+
+    def _get_min_level(self):
+        levels = [
+            int.from_bytes(status.level, 'little')
+            for diag in self.received_messages
+            for status in diag.status]
+        if len(levels) == 0:
+            return -1
+        return min(levels)
+
+    def test_topic_published(self):
+        """Test if the ntp_monitor node is publishing diagnostics."""
+        with WaitForTopics(
+            [('/diagnostics', DiagnosticArray)],
+            timeout=5
+        ):
+            print('Topic found')
+
+        rclpy.init()
+        test_node = rclpy.create_node('test_node')
+        test_node.create_subscription(
+            DiagnosticArray,
+            '/diagnostics',
+            self._received_message,
+            1
+        )
+
+        while len(self.received_messages) < 10:
+            rclpy.spin_once(test_node, timeout_sec=1)
+            if (min_level := self._get_min_level()) == 0:
+                break
+
+        test_node.destroy_node()
+        rclpy.shutdown()
+        print(f'Got {len(self.received_messages)} messages:')
+        for msg in self.received_messages:
+            print(msg)
+        self.assertEqual(min_level, 0)