diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 3b8de5e..f701fa0 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -2,8 +2,6 @@ name: CI on: push: - branches: - - main pull_request: branches: - main @@ -38,5 +36,8 @@ jobs: python -m pip install --upgrade --upgrade-strategy eager .[test] python -m pip freeze + - name: Install apt dependencies + run: sudo apt update && sudo apt install -y doxygen graphviz + - name: Run tests run: py.test --verbose test diff --git a/README.md b/README.md index 0955808..c1a64d4 100644 --- a/README.md +++ b/README.md @@ -192,7 +192,28 @@ TODO ## Testing -TODO +To install rosdoc2 prerequisites for testing, run +``` +pip install --user --upgrade .[test] +``` + +You probably want to test rosdoc2 using code in a local directory rather than +re-running install every time you do a change. To do this, run (from the directory +containing this README): +``` +python3 -m pytest +``` +If you want to see more output, try the ```-rP``` and/or ```--log-level=DEBUG``` option. +To limit to a particular test, for example the test of "full_package", use ```-k full_package``` + +Combining these as an example, to get detailed output from the full_package test even for +passed tests, run: +``` +python3 -m pytest -rP --log-level=DEBUG -k full_package +``` + + + ## Contributing diff --git a/test/packages/full_package/Changelog.rst b/test/packages/full_package/Changelog.rst new file mode 100644 index 0000000..dca2c15 --- /dev/null +++ b/test/packages/full_package/Changelog.rst @@ -0,0 +1 @@ +This should have a changelog. diff --git a/test/packages/full_package/LICENSE b/test/packages/full_package/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/test/packages/full_package/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/test/packages/full_package/README.md b/test/packages/full_package/README.md new file mode 100644 index 0000000..761cadc --- /dev/null +++ b/test/packages/full_package/README.md @@ -0,0 +1 @@ +This is the package readme. Note it has no markdown headings. Normally these should be included, but in case they are not we insert a README heading. diff --git a/test/packages/full_package/contributing.md b/test/packages/full_package/contributing.md new file mode 100644 index 0000000..55bf811 --- /dev/null +++ b/test/packages/full_package/contributing.md @@ -0,0 +1,3 @@ +# How to Contribute + +This file would contain contribution instructions. Here it is testing a lower case filename, which should be allowed. diff --git a/test/packages/full_package/doc/instructions.rst b/test/packages/full_package/doc/instructions.rst new file mode 100644 index 0000000..f64b46c --- /dev/null +++ b/test/packages/full_package/doc/instructions.rst @@ -0,0 +1,9 @@ +Instructions +============ + +Do it this way. + +Subheading +---------- + +Here is more detail of how to do it. diff --git a/test/packages/full_package/doc/morestuff/hereismore.md b/test/packages/full_package/doc/morestuff/hereismore.md new file mode 100644 index 0000000..3b9557d --- /dev/null +++ b/test/packages/full_package/doc/morestuff/hereismore.md @@ -0,0 +1,11 @@ +# This is more documentation + +blah, blah. + +## Level 2 header + +more blah. + +### Level 3 header + +even more blah. diff --git a/test/packages/full_package/doc/morestuff/more_of_more/subsub.md b/test/packages/full_package/doc/morestuff/more_of_more/subsub.md new file mode 100644 index 0000000..468f10e --- /dev/null +++ b/test/packages/full_package/doc/morestuff/more_of_more/subsub.md @@ -0,0 +1,3 @@ +# This is deep + +A deeper file's content diff --git a/test/packages/full_package/doc/unknown.xyz b/test/packages/full_package/doc/unknown.xyz new file mode 100644 index 0000000..875ab4f --- /dev/null +++ b/test/packages/full_package/doc/unknown.xyz @@ -0,0 +1 @@ +This file demonstrates what happens with a file of unknown type. Namely, it is ignored. diff --git a/test/packages/full_package/full_package/__init__.py b/test/packages/full_package/full_package/__init__.py new file mode 100644 index 0000000..f5a59d4 --- /dev/null +++ b/test/packages/full_package/full_package/__init__.py @@ -0,0 +1,15 @@ +# Copyright 2022 Open Source Robotics Foundation, Inc. +# +# 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. + +"""This is the documentation for the whole ROS package as a python module.""" diff --git a/test/packages/full_package/full_package/dummy.py b/test/packages/full_package/full_package/dummy.py new file mode 100644 index 0000000..2d0ed40 --- /dev/null +++ b/test/packages/full_package/full_package/dummy.py @@ -0,0 +1,31 @@ +# Copyright 2022 Open Source Robotics Foundation, Inc. +# +# 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. + +"""This file is used to test documentation generation.""" + + +class Example(): + """This is the overview of the Example class.""" + + def __init__(self): + """Construct example.""" + pass + + def do_something(p) -> str: + """Do something. + + :param list[str] p: This is a parameter description + :return: just the input arm itself + """ + return p diff --git a/test/packages/full_package/full_package/srv/NodeCommand.srv b/test/packages/full_package/full_package/srv/NodeCommand.srv new file mode 100644 index 0000000..d861003 --- /dev/null +++ b/test/packages/full_package/full_package/srv/NodeCommand.srv @@ -0,0 +1,5 @@ +# Commands to start or stop launch files or behaviors +string name # thing to start +string command # start, stop, status +--- +string response diff --git a/test/packages/full_package/include/full_package/iamcpp.hpp b/test/packages/full_package/include/full_package/iamcpp.hpp new file mode 100644 index 0000000..e25cbed --- /dev/null +++ b/test/packages/full_package/include/full_package/iamcpp.hpp @@ -0,0 +1,58 @@ +// +// Copyright 2022 R. Kent James +// +// 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. + +#ifndef FULL_PACKAGE__IAMCPP_HPP_ +#define FULL_PACKAGE__IAMCPP_HPP_ + +/// @file +/// @brief This is the header file for the DoSomeCpp class implementing a node do_some_cpp + +#include +#include "rclcpp/rclcpp.hpp" + +/// namespace for the ROS2 package containing the do_some_cpp node +namespace full_package +{ + +/** + + A demonstration of a simple ROS2 node that does nothing. + + Bold Statement Describe that boldness + + Just plain old documentation. + + */ + +class DoSomeCpp: public rclcpp::node +{ +public: + DoSomeCpp(); + virtual ~DoSomeCpp() {} + + /// Generate the root and power of a number + static std::tuple apply_powers( + const double_t number, ///< base value we want to take to a power or root + const double exponent ///< the exponent for the power or root + ); + + /// here I document some variable + + size_t count +}; + +} // namespace full_package + +#endif // FULL_PACKAGE__IAMCPP_HPP_ diff --git a/test/packages/full_package/msg/NumPwrResult.msg b/test/packages/full_package/msg/NumPwrResult.msg new file mode 100644 index 0000000..2b05524 --- /dev/null +++ b/test/packages/full_package/msg/NumPwrResult.msg @@ -0,0 +1,10 @@ +# Demo of a custom message definition in a ros package. +# +# This message is supposed to be a simulation for a node that is like a message +# filter. This is the response. The node has received an incoming message, and +# publishes this message in response. + +# Result of raising the incoming number to a power +float64 to_power +# Result of taking the powereth_root of the number, eg to the power (1./exponent) +float64 to_root diff --git a/test/packages/full_package/package.xml b/test/packages/full_package/package.xml new file mode 100644 index 0000000..08a82f4 --- /dev/null +++ b/test/packages/full_package/package.xml @@ -0,0 +1,23 @@ + + + + full_package + 0.1.3 + Full ROS2 test package + Some One + https://example.com/repo + https://example.com/website + https://example.com/issues + Apache License 2.0 + + ament_cmake + ament_cmake_python + + rclcpp + rclpy + + + ament_cmake + + + diff --git a/test/packages/full_package/src/iamcpp.cpp b/test/packages/full_package/src/iamcpp.cpp new file mode 100644 index 0000000..e69de29 diff --git a/test/packages/minimum_package/package.xml b/test/packages/minimum_package/package.xml new file mode 100644 index 0000000..4bb1f0f --- /dev/null +++ b/test/packages/minimum_package/package.xml @@ -0,0 +1,9 @@ + + + + minimum_package + 0.1.2 + Minimal ROS2 test package + Some One + Apache License 2.0 + diff --git a/test/packages/only_python/only_python/__init__.py b/test/packages/only_python/only_python/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/test/packages/only_python/only_python/python_node.py b/test/packages/only_python/only_python/python_node.py new file mode 100644 index 0000000..6092246 --- /dev/null +++ b/test/packages/only_python/only_python/python_node.py @@ -0,0 +1,6 @@ +def main(): + print('Hi from only_python.') + + +if __name__ == '__main__': + main() diff --git a/test/packages/only_python/package.xml b/test/packages/only_python/package.xml new file mode 100644 index 0000000..8d5c003 --- /dev/null +++ b/test/packages/only_python/package.xml @@ -0,0 +1,18 @@ + + + + only_python + 0.0.0 + Basic Python node using ros2 create command + Python Pro + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/test/packages/only_python/resource/only_python b/test/packages/only_python/resource/only_python new file mode 100644 index 0000000..e69de29 diff --git a/test/packages/only_python/setup.cfg b/test/packages/only_python/setup.cfg new file mode 100644 index 0000000..2b64109 --- /dev/null +++ b/test/packages/only_python/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/only_python +[install] +install_scripts=$base/lib/only_python diff --git a/test/packages/only_python/setup.py b/test/packages/only_python/setup.py new file mode 100644 index 0000000..2d0763a --- /dev/null +++ b/test/packages/only_python/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'only_python' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='kent', + maintainer_email='kent@caspia.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'python_node = only_python.python_node:main' + ], + }, +) diff --git a/test/test_builder.py b/test/test_builder.py new file mode 100644 index 0000000..ed6755a --- /dev/null +++ b/test/test_builder.py @@ -0,0 +1,216 @@ +# Copyright 2022 Open Source Robotics Foundation, Inc. +# +# 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. + +"""testing of builder.py using pytest.""" + +import argparse +from html.parser import HTMLParser +import logging +import pathlib +from urllib.parse import urlparse + +import pytest +from rosdoc2.verbs.build.impl import main_impl, prepare_arguments + +logger = logging.getLogger('test-builder') +DATAPATH = pathlib.Path('test/packages') + + +@pytest.fixture(scope='session') +def session_dir(tmp_path_factory): + tmp_path_factory.mktemp('build', False) + tmp_path_factory.mktemp('cross_references', False) + tmp_path_factory.mktemp('output', False) + return tmp_path_factory.getbasetemp() + + +class htmlParser(HTMLParser): + """Minimal html parsing collecing links and content.""" + + def __init__(self): + super().__init__() + # data we have seen + self.content = set() + # href in tags we have seen + self.links = set() + + def handle_starttag(self, tag, attrs): + if tag == 'a': + for (name, link) in attrs: + if name == 'href': + self.links.add(link) + + def handle_data(self, data): + data_black = data.strip(' \n') + if data_black: + self.content.add(data_black.lower()) + + +def do_build_package(package_path, work_path) -> None: + build_dir = work_path / 'build' + output_dir = work_path / 'output' + cr_dir = work_path / 'cross_references' + + # Create a top level parser + parser = prepare_arguments(argparse.ArgumentParser()) + options = parser.parse_args([ + '-p', str(package_path), + '-c', str(cr_dir), + '-o', str(output_dir), + '-d', str(build_dir), + ]) + logger.info(f'*** Building package(s) at {package_path} with options {options}') + + # run rosdoc2 on the package + main_impl(options) + + +def do_test_package( + name, + work_path, + includes=[], + excludes=[], + file_includes=[], + file_excludes=[], + links_exist=[], +) -> None: + """Test that package documentation exists and includes/excludes certain text. + + :param pathlib.Path work_path: path where generated files were placed + :param list[str] includes: lower case text found in index.html data + :param list[str] excludes: lower case text not found in index.html data + :param list[str] file_includes: path to files + (relative to root index.html directory) of files that should exist + :param list[str] file_excludes: path to files + (relative to root index.html directory) of files that should not exist + :param list[str] links_exist: Confirm that 1) a link exists containing this text, and + 2) the link is a valid file + """ + logger.info(f'*** Testing package {name} work_path {work_path}') + output_dir = work_path / 'output' + + # tests on the main index.html + index_path = output_dir / name / 'index.html' + + # smoke test + assert index_path.is_file(), \ + 'html index file exists' + + # read and parse the index file + # + # The package title html has a permalink icon at the end which is + # a unicode character. For some reason, on Windows this character generates + # a unicode error in Windows, though it seems to work fine + # in the browser. So ignore unicode errors. + with index_path.open(mode='r', errors='replace') as f: + index_content = f.read() + assert len(index_content) > 0, \ + 'index.html is not empty' + + parser = htmlParser() + parser.feed(index_content) + logger.debug('HTML text content: ' + str(parser.content)) + logger.debug('HTML tag links: ' + str(parser.links)) + # test inclusions + for item in includes: + assert item.lower() in parser.content, \ + f'html should have content <{item}>' + + # test exclusions + for item in excludes: + assert item.lower() not in parser.content, \ + f'html should not have content <{item}>' + + # file inclusions + for item in file_includes: + path = output_dir / name / item + assert path.is_file(), \ + f'file <{item}> should exist' + + # file exclusions + for item in file_excludes: + path = output_dir / name / item + assert not path.is_file(), \ + f'file <{item}> should not exist' + + # look for links + for item in links_exist: + found_item = None + for link in parser.links: + if item in link: + found_item = link + assert found_item, \ + f'a link should exist containing the string <{item}>' + link_object = urlparse(found_item) + link_path = output_dir / name / link_object.path + assert link_path.is_file(), \ + f'file represented by <{found_item}> should exist at <{link_path}>' + + +def test_minimum_package(session_dir): + """Tests of a package containing as little as possible.""" + PKG_NAME = 'minimum_package' + do_build_package(DATAPATH / PKG_NAME, session_dir) + + includes = [ + PKG_NAME, + ] + excludes = [ + 'classes and structs', # only found in C++ projects + ] + file_includes = [ + 'search.html', + ] + file_excludes = [ + 'generated/index.html', # empty packages have no generated content + ] + links_exist = [ + 'genindex.html', + ] + do_test_package(PKG_NAME, session_dir, + includes=includes, + excludes=excludes, + file_includes=file_includes, + file_excludes=file_excludes, + links_exist=links_exist) + + +def test_full_package(session_dir): + """Test a package with C++, python, and docs.""" + PKG_NAME = 'full_package' + do_build_package(DATAPATH / PKG_NAME, session_dir) + + includes = [ + PKG_NAME, + ] + file_includes = [ + 'generated/index.html' + ] + do_test_package(PKG_NAME, session_dir, + includes=includes, + file_includes=file_includes) + + +def test_only_python(session_dir): + """Test a pure python package.""" + PKG_NAME = 'only_python' + do_build_package(DATAPATH / PKG_NAME, session_dir) + + includes = [ + PKG_NAME, + ] + links_exist = ['only_python.python_node.html'] + do_test_package(PKG_NAME, session_dir, + includes=includes, + links_exist=links_exist)