Sloretz/test discovery

test_discovery/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(test_discovery)
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(test_msgs REQUIRED)
+
+add_executable(publish_once src/publish_once.cpp)
+target_compile_features(publish_once PUBLIC cxx_std_17)
+target_link_libraries(publish_once PRIVATE
+    rclcpp::rclcpp
+    ${test_msgs_TARGETS}
+)
+
+add_executable(subscribe_once src/subscribe_once.cpp)
+target_compile_features(subscribe_once PUBLIC cxx_std_17)
+target_link_libraries(subscribe_once PRIVATE
+    rclcpp::rclcpp
+    ${test_msgs_TARGETS}
+)
+
+install(TARGETS publish_once subscribe_once
+    DESTINATION lib/${PROJECT_NAME})
+
+install(FILES
+        roottests/test_discovery.py
+        roottests/conftest.py
+    DESTINATION share/${PROJECT_NAME}/roottests/)
+
+install(PROGRAMS
+    scripts/run_root_tests.py
+    DESTINATION lib/${PROJECT_NAME}/)
+
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+
+    ament_add_pytest_test(test_discovery tests/test_discovery.py TIMEOUT 800)
+endif()
+
+ament_package()

test_discovery/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>test_discovery</name>
+  <version>0.14.0</version>
+  <description>
+    Test discovery behaviors in ROS 2 using semiautomated tests.
+  </description>
+
+  <maintainer email="[email protected]">Brandon Ong</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Shane Loretz</author>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <!-- <depend>mininet</depend> TODO this rosdep key -->
+  <depend>rclcpp</depend>
+  <depend>test_msgs</depend>
+  <depend>pytest</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>test_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

test_discovery/roottests/conftest.py

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+# Copyright 2023 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.
+
+def pytest_addoption(parser):
+    parser.addoption('--ros-workspaces', action='store')
+    parser.addoption('--rmws', action='store')
+
+
+def pytest_generate_tests(metafunc):
+    if 'rmw' in metafunc.fixturenames:
+        metafunc.parametrize('rmw', metafunc.config.option.rmws.split(':'))

test_discovery/roottests/test_discovery.py

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+# Copyright 2023 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.
+
+# Run discovery tests
+# 1. Install dependencies
+#   sudo apt install iputils-ping iproute2 mininet
+#    TODO(sloretz) not needed? openvswitch-switch openvswitch-testcontroller
+# 2. TODO(sloretz) not needed? Start openvswitch service if not already running
+#   sudo service openvswitch-switch start
+
+from mininet.net import Mininet
+from mininet.topo import MinimalTopo
+import pytest
+
+
+RANGES = [
+    'OFF',
+    'SUBNET',
+    'LOCALHOST',
+]
+
+
+class MininetFixture:
+    __slots__ = (
+        'net',
+        'h1',
+        'h2',
+    )
+
+
+def h1_ipv4(net: MininetFixture) -> str:
+    return net.h1.IP()
+
+
+def h2_ipv4(net: MininetFixture) -> str:
+    return net.h2.IP()
+
+
+def no_peer(net: MininetFixture) -> str:
+    return ''
+
+
+@pytest.fixture()
+def mn():
+    f = MininetFixture()
+    f.net = Mininet(topo=MinimalTopo())
+    f.h1 = f.net.getNodeByName('h1')
+    f.h2 = f.net.getNodeByName('h2')
+
+    f.net.start()
+    yield f
+    f.net.stop()
+
+
+# TODO(sloretz) figure out ROS workspace path from environment variables
+@pytest.fixture(scope='session')
+def ros_ws(pytestconfig):
+    return pytestconfig.getoption('ros_workspaces').split(':')
+
+
+def make_env_str(ros_ws, rmw, discovery_range, peer):
+    cmd = []
+    for ws in ros_ws:
+        cmd.append('.')
+        cmd.append(f'"{ws}/setup.bash"')
+        cmd.append('&&')
+    cmd.append(f'RMW_IMPLEMENTATION={rmw}')
+    cmd.append(f'ROS_AUTOMATIC_DISCOVERY_RANGE={discovery_range}')
+    cmd.append(f'ROS_STATIC_PEERS="{peer}"')
+    return ' '.join(cmd)
+
+
+@pytest.mark.parametrize('sub_peer', (no_peer, h1_ipv4))
+@pytest.mark.parametrize('sub_range', RANGES)
+@pytest.mark.parametrize('pub_peer', (no_peer, h1_ipv4))
+@pytest.mark.parametrize('pub_range', RANGES)
+def test_samehost(mn, ros_ws, rmw, pub_range, pub_peer, sub_range, sub_peer):
+    pub_peer = pub_peer(mn)
+    sub_peer = sub_peer(mn)
+
+    pub_env = make_env_str(ros_ws, rmw, pub_range, pub_peer)
+    sub_env = make_env_str(ros_ws, rmw, sub_range, sub_peer)
+    pub_cmd = pub_env + ' ros2 run test_discovery publish_once > /dev/null &'
+    sub_cmd = sub_env + ' ros2 run test_discovery subscribe_once'
+    print('$', pub_cmd)
+    print('$', sub_cmd)
+
+    mn.h1.cmd(pub_cmd)
+    result = mn.h1.cmd(sub_cmd)
+    message_received = 'test_discovery: message was received' in result.strip()
+
+    if pub_peer or sub_peer:
+        # if either has a static peer set, discovery should succeed
+        assert message_received, result.strip()
+    elif 'OFF' in (pub_range, sub_range):
+        # With no static peer, if either has discovery off then it won't succeed
+        assert not message_received, result.strip()
+    else:
+        # All other cases discovery
+        assert message_received, result.strip()
+
+
+@pytest.mark.parametrize('sub_peer', (no_peer, h1_ipv4))
+@pytest.mark.parametrize('sub_range', RANGES)
+@pytest.mark.parametrize('pub_peer', (no_peer, h2_ipv4))
+@pytest.mark.parametrize('pub_range', RANGES)
+def test_differenthost(mn, ros_ws, rmw, pub_range, pub_peer, sub_range, sub_peer):
+    pub_peer = pub_peer(mn)
+    sub_peer = sub_peer(mn)
+
+    pub_env = make_env_str(ros_ws, rmw, pub_range, pub_peer)
+    sub_env = make_env_str(ros_ws, rmw, sub_range, sub_peer)
+    pub_cmd = pub_env + ' ros2 run test_discovery publish_once > /dev/null &'
+    sub_cmd = sub_env + ' ros2 run test_discovery subscribe_once'
+    print('$', pub_cmd)
+    print('$', sub_cmd)
+
+    mn.h1.cmd(pub_cmd)
+    result = mn.h2.cmd(sub_cmd)
+    message_received = 'test_discovery: message was received' in result.strip()
+
+    if pub_peer or sub_peer:
+        # if either has a static peer set, discovery should succeed
+        assert message_received, result.strip()
+    elif 'SUBNET' == pub_range and 'SUBNET' == sub_range:
+        # With no static peer, succeed only if both are set to SUBNET
+        assert message_received, result.strip()
+    else:
+        # All other cases discovery
+        assert not message_received, result.strip()

test_discovery/scripts/run_root_tests.py

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+#!/usr/bin/env python3
+
+# Copyright 2023 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.
+
+import argparse
+import os
+import sys
+
+from ament_index_python import get_package_share_path
+from ament_index_python import get_resources
+
+
+def get_rmw_implementations():
+    resources = list(get_resources('rmw_typesupport').keys())
+    if 'rmw_implementation' in resources:
+        resources.remove('rmw_implementation')
+    return tuple(resources)
+
+
+def get_tests_dir():
+    pkg_path = get_package_share_path('test_discovery')
+    return pkg_path / 'roottests'
+
+
+def get_workspaces():
+    # Get an ordered list of workspaces that are sourced
+    prefixes = os.environ['AMENT_PREFIX_PATH']
+    if not prefixes:
+        raise ValueError('No ROS/Colcon workspace sourced')
+    workspaces = set()
+    for prefix in prefixes.split(':'):
+        if not prefix:
+            # env var might have began or ended with a ':'
+            continue
+        # If there exists a parent folder containing a setup.bash
+        # then assume this is an isolated colcon workspace
+        if os.path.exists(os.path.join(prefix, '../setup.bash')):
+            workspaces.add(os.path.dirname(prefix))
+        else:
+            # Assume a merged ament/colcon workspace
+            workspaces.add(prefix)
+    return tuple(workspaces)
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--rmw', default=None)
+    parser.add_argument('--select', default=None)
+    args = parser.parse_args()
+
+    rmw_implementations = get_rmw_implementations()
+    if args.rmw:
+        if args.rmw not in rmw_implementations:
+            raise ValueError(f'{args.rmw} is not an installed rmw: {rmw_implementations}')
+        rmw_implementations = [args.rmw]
+
+    cmd = []
+    cmd.append('sudo')
+    cmd.append(sys.executable)
+    cmd.append('-m')
+    cmd.append('pytest')
+    cmd.append('-c')
+    cmd.append(str(get_tests_dir() / 'conftest.py'))
+    if args.select:
+        cmd.append('-k')
+        cmd.append(args.select)
+    cmd.append(f'--rmws={":".join(rmw_implementations)}')
+    cmd.append(f'--ros-workspaces={":".join(get_workspaces())}')
+    cmd.append(str(get_tests_dir() / 'test_discovery.py'))
+
+    print('Executing the following command:')
+    print('================================')
+    print('$', *cmd)
+    print('================================')
+
+    os.execvp(cmd[0], cmd)
+
+
+if __name__ == '__main__':
+    main()

test_discovery/src/publish_once.cpp

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+// Copyright 2023 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.
+
+#include <chrono>
+#include <string>
+
+#include <rclcpp/rclcpp.hpp>
+#include <test_msgs/msg/builtins.hpp>
+
+
+constexpr double kMaxDiscoveryTime = 10;
+
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("publish_once");
+  auto publisher = node->create_publisher<test_msgs::msg::Builtins>("test_topic", 10);
+
+  auto clock = node->get_clock();
+
+  auto end_time = clock->now() + rclcpp::Duration::from_seconds(kMaxDiscoveryTime);
+  while (rclcpp::ok() && publisher->get_subscription_count() == 0) {
+    if (clock->now() >= end_time) {
+      return 0;
+    }
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
+  }
+
+  publisher->publish(test_msgs::msg::Builtins());
+
+  // Do nothing until killed.
+  rclcpp::spin(node);
+  return 0;
+}