Merge pull request #354 from ros-drivers/291-add-renode-test

291 update integration test, prepare CI to run renode
ros-drivers · Jan 26, 2025 · 7b3dc6d · 7b3dc6d
2 parents ca78cd2 + 6b126bd
commit 7b3dc6d
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diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -3,13 +3,16 @@ name: Build and Test
 on:
   push:
     branches:
-      - 'ros2'
+      - 'main'
   pull_request:
     branches:
-      - 'ros2/*'
-      - 'ros2'
+      - 'main/*'
+      - 'main'
   workflow_dispatch:
 
+env:
+  ROS_WORKSPACE_PATH: workspace/src
+
 jobs:
   get_ros_distros:
     runs-on: ubuntu-latest
@@ -26,7 +29,7 @@ jobs:
       - name: Generate actions matrix
         id: set-matrix
         run: |
-          ACTIVE_ROS_DISTROS=(noetic)
+          ACTIVE_ROS_DISTROS=()
           DOCKER_DISTRO_MATRIX=()
           RAW_DOCKER_JSON=$(curl -s "https://hub.docker.com/v2/repositories/rostooling/setup-ros-docker/tags?page_size=1000")
           while read distro; do
@@ -73,44 +76,49 @@ jobs:
     container:
       image: rostooling/setup-ros-docker:${{ matrix.docker_image }}
     steps:
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install policykit-1 libgtk2.0-common screen uml-utilities libc6-dev libicu-dev gcc python3 python3-pip
+          mkdir renode_portable
+          wget https://builds.renode.io/renode-latest.linux-portable.tar.gz
+          tar xf  renode-latest.linux-portable.tar.gz -C renode_portable --strip-components=1
       - name: Setup Directories
-        run: mkdir -p ros_ws/src
+        run: mkdir -p $ROS_WORKSPACE_PATH
       - name: checkout
         uses: actions/checkout@v4
         with:
-          path: ros_ws/src
-      - name: Build and Test ROS 1
-        uses: ros-tooling/action-ros-ci@master
-        if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) }}
-        continue-on-error: true
-        with:
-          package-name: usb_cam
-          target-ros1-distro: ${{ matrix.ros_distro }}
-          vcs-repo-file-url: ""
-      - name: Build and Test ROS 2
-        id: build_and_test_step
-        uses: ros-tooling/action-ros-ci@master
-        if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) == false }}
-        with:
-          package-name: usb_cam
-          target-ros2-distro: ${{ matrix.ros_distro }}
-          vcs-repo-file-url: ""
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          # If possible, pin the repository in the workflow to a specific commit to avoid
-          # changes in colcon-mixin-repository from breaking your tests.
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
-      - uses: actions/upload-artifact@v1
+          path: $ROS_WORKSPACE_PATH/usb_cam
+      - name: build
+        shell: bash
+        run: |
+          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          cd $ROS_WORKSPACE_PATH
+          colcon build --packages-select usb_cam
+      - name: unit tests
+        shell: bash
+        run: |
+          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          cd $ROS_WORKSPACE_PATH
+          colcon test --packages-select usb_cam
+      # Compile again, this time enabling integration tests
+      - name: Build integration tests
+        shell: bash
+        run: |
+          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          cd $ROS_WORKSPACE_PATH
+          colcon build --packages-select usb_cam --cmake-args -DSANITIZE=1 -DINTEGRATION_TESTS=1
+      - name: Run integration tests
+        shell: bash
+        run: |
+            renode_portable/renode --disable-gui --version
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
         if: always()
         continue-on-error: true
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v4
         with:
           name: lcov-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,25 +7,11 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  if($ENV{ROS_VERSION} EQUAL 2)
-    add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  endif()
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
-# Remove once ROS 1 Noetic is deprecated
-if($ENV{ROS_VERSION} EQUAL 1)
-  find_package(catkin REQUIRED COMPONENTS
-    cv_bridge
-    roscpp
-    std_msgs
-    std_srvs
-    sensor_msgs
-    camera_info_manager
-    image_transport)
-else()
-  find_package(ament_cmake_auto REQUIRED)
-  ament_auto_find_build_dependencies()
-endif()
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 find_package(OpenCV REQUIRED)
 
@@ -63,103 +49,65 @@ target_link_libraries(${PROJECT_NAME}
   ${swscale_LIBRARIES}
   ${OpenCV_LIBRARIES})
 
-# Remove once ROS 1 Noetic is deprecated
-if($ENV{ROS_VERSION} EQUAL 1)
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}
-  )
-
-  add_executable(${PROJECT_NAME}_node src/ros1/usb_cam_node.cpp)
-  target_link_libraries(${PROJECT_NAME}_node
-    ${PROJECT_NAME}
-    ${catkin_LIBRARIES}
-  )
-  target_include_directories(${PROJECT_NAME}_node PUBLIC
-    ${catkin_INCLUDE_DIRS})
-else()
-  ament_export_libraries(${PROJECT_NAME})
-
-  ## Declare a ROS 2 composible node as a library
-  ament_auto_add_library(${PROJECT_NAME}_node SHARED
-    src/ros2/usb_cam_node.cpp
-  )
-
-  target_link_libraries(${PROJECT_NAME}_node
-    ${PROJECT_NAME})
+ament_export_libraries(${PROJECT_NAME})
 
-  ## Use node to generate an executable
-  rclcpp_components_register_node(${PROJECT_NAME}_node
-    PLUGIN "usb_cam::UsbCamNode"
-    EXECUTABLE ${PROJECT_NAME}_node_exe
-  )
-  if(SANITIZE)
-    target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
-    target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
-    target_compile_options(${PROJECT_NAME}_node PUBLIC -fsanitize=address -fsanitize=leak)
-    target_link_libraries(${PROJECT_NAME}_node -fsanitize=address -fsanitize=leak)
-    target_link_libraries(${PROJECT_NAME}_node_exe -fsanitize=address -fsanitize=leak)
-  endif()
-endif()
+## Declare a ROS 2 composible node as a library
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+  src/usb_cam_node.cpp
+)
 
-if(BUILD_TESTING)
-  if($ENV{ROS_VERSION} EQUAL 2)
-    find_package(ament_lint_auto REQUIRED)
-    ament_lint_auto_find_test_dependencies()
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME})
 
-    find_package(ament_cmake_gtest)
+## Use node to generate an executable
+rclcpp_components_register_node(${PROJECT_NAME}_node
+  PLUGIN "usb_cam::UsbCamNode"
+  EXECUTABLE ${PROJECT_NAME}_node_exe
+)
 
-    # Unit tests
-    ament_add_gtest(test_usb_cam_utils
-      test/test_usb_cam_utils.cpp)
-    target_link_libraries(test_usb_cam_utils
-      ${PROJECT_NAME})
-    ament_add_gtest(test_pixel_formats
-      test/test_pixel_formats.cpp)
-    target_link_libraries(test_pixel_formats
+if(SANITIZE)
+  target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
+  target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
+  target_compile_options(${PROJECT_NAME}_node PUBLIC -fsanitize=address -fsanitize=leak)
+  target_link_libraries(${PROJECT_NAME}_node -fsanitize=address -fsanitize=leak)
+  target_link_libraries(${PROJECT_NAME}_node_exe -fsanitize=address -fsanitize=leak)
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest)
+  # Unit tests
+  ament_add_gtest(test_usb_cam_utils
+    test/test_usb_cam_utils.cpp)
+  target_link_libraries(test_usb_cam_utils
+    ${PROJECT_NAME})
+  ament_add_gtest(test_pixel_formats
+    test/test_pixel_formats.cpp)
+  target_link_libraries(test_pixel_formats
+    ${PROJECT_NAME})
+  if(INTEGRATION_TESTS)
+    ament_add_gtest(test_usb_cam_lib
+      test/test_usb_cam_lib.cpp)
+    target_link_libraries(test_usb_cam_lib
       ${PROJECT_NAME})
-    # TODO(flynneva): rewrite this test in another PR
-    # Integration tests
-    # ament_add_gtest(test_usb_cam_lib
-    #  test/test_usb_cam_lib.cpp)
-    # target_link_libraries(test_usb_cam_lib
-    #   ${PROJECT_NAME})
   endif()
 endif()
 
+install(
+  PROGRAMS scripts/show_image.py
+  DESTINATION lib/${PROJECT_NAME})
 
-if($ENV{ROS_VERSION} EQUAL 1)
-  install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  )
-
-  ## Copy launch files
-  install(DIRECTORY launch/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-    FILES_MATCHING PATTERN "*.launch"
-  )
-
-  install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-  )
-else()
-  install(
-    PROGRAMS scripts/show_image.py
-    DESTINATION lib/${PROJECT_NAME})
-
-  install(TARGETS
-    ${PROJECT_NAME}
-    ${PROJECT_NAME}_node
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION lib
-  )
-
-  ament_auto_package(
-    INSTALL_TO_SHARE
-      launch
-      config
-  )
-endif()
+install(TARGETS
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    launch
+    config
+)
diff --git a/README.md b/README.md
@@ -154,7 +154,25 @@ Unfortunately `rviz2` and `show_image.py` do not support visualizing the compres
 ros2 run image_transport republish compressed raw --ros-args --remap in/compressed:=image_raw/compressed --remap out:=image_raw/uncompressed
 ```
 
-## Address and leak sanitizing
+## Testing
+
+To run the basic unit tests for this repository:
+
+```shell
+colcon build --packages-select usb_cam
+colcon test --pacakges-select usb_cam
+```
+
+### Integration tests
+
+To run integration tests for this repository:
+
+```shell
+colcon build --packages-select usb_cam --cmake-args -DINTEGRATION_TESTS=1
+colcon test --pacakges-select usb_cam
+```
+
+### Address and leak sanitizing
 
 Incorporated into the `CMakelists.txt` file to assist with memory leak and address sanitizing
 is a flag to add these compile commands to the targets.

diff --git a/include/usb_cam/usb_cam.hpp b/include/usb_cam/usb_cam.hpp
@@ -104,32 +104,27 @@ typedef struct
 
 typedef struct
 {
-  std::string camera_name;  // can be anything
-  std::string device_name;  // usually /dev/video0 or something similiar
-  std::string frame_id;
-  std::string io_method_name;
-  std::string camera_info_url;
-  // these parameters all have to be a combination supported by the device
-  // Use
-  // v4l2-ctl --device=0 --list-formats-ext
-  // to discover them,
-  // or guvcview
-  std::string pixel_format_name;
-  std::string av_device_format;
-  int image_width;
-  int image_height;
-  int framerate;
-  int brightness;
-  int contrast;
-  int saturation;
-  int sharpness;
-  int gain;
-  int white_balance;
-  int exposure;
-  int focus;
-  bool auto_white_balance;
-  bool autoexposure;
-  bool autofocus;
+  std::string camera_name = "usb_cam";  // can be anything
+  std::string device_name = "/dev/video0";  // usually /dev/video0 or something similiar
+  std::string frame_id = "camera";
+  std::string io_method_name = "mmap";
+  std::string camera_info_url = "package://usb_cam/config/camera_info.yaml";
+  std::string pixel_format_name = "yuyv2rgb";
+  std::string av_device_format = "YUV422P";
+  int image_width = 600;
+  int image_height = 400;
+  int framerate = 30.0;
+  int brightness = -1;
+  int contrast = -1;
+  int saturation = -1;
+  int sharpness = -1;
+  int gain = -1;
+  int white_balance = -1;
+  int exposure = -1;
+  int focus = -1;
+  bool auto_white_balance = true;
+  bool autoexposure = true;
+  bool autofocus = false;
 } parameters_t;
 
 typedef struct