fix tests in foxy/ubuntu-20.04

.circleci/config.yml

@@ -38,7 +38,7 @@ jobs:
         - ./node_modules
     # Test
     - run: npm install istanbul coveralls
-    - run: source ~/ros2_install/ros2-osx/local_setup.bash && export OPENSSL_ROOT_DIR="/usr/local/opt/openssl" && node scripts/compile_tests.js && node --expose-gc ./node_modules/.bin/istanbul cover ./scripts/run_test.js --report lcovonly && cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js && rm -rf ./coverage
+    - run: source ~/ros2_install/ros2-osx/local_setup.bash && export OPENSSL_ROOT_DIR="/usr/local/opt/openssl" && node scripts/compile_tests.js && . install/setup.bash && node --expose-gc ./node_modules/.bin/istanbul cover ./scripts/run_test.js --report lcovonly && cat ./coverage/lcov.info | ./node_modules/coveralls/bin/coveralls.js && rm -rf ./coverage
     # Teardown
     - run: find $HOME/Library/Developer/Xcode/DerivedData -name '*.xcactivitylog' -exec cp {} $CIRCLE_ARTIFACTS/xcactivitylog \; || true
     # Save test results

benchmark/rclcpp/service/client-stress-test.cpp

@@ -22,11 +22,10 @@
 #include "utilities.hpp"
 
 void ShowUsage(const std::string name) {
-    std::cerr << "Usage: " << name << " [options]\n"
-              << "\nOptions:\n"
-              << "\n--run <n>     \tHow many times to run\n"
-              << "--help          \toutput usage information"
-              << std::endl;
+  std::cerr << "Usage: " << name << " [options]\n"
+            << "\nOptions:\n"
+            << "\n--run <n>     \tHow many times to run\n"
+            << "--help          \toutput usage information" << std::endl;
 }
 
 int main(int argc, char* argv[]) {
@@ -36,15 +35,16 @@ int main(int argc, char* argv[]) {
   for (int i = 1; i < argc; i++) {
     std::string arg = argv[i];
     if ((arg == "-h") || (arg == "--help")) {
-        ShowUsage(argv[0]);
-        return 0;
+      ShowUsage(argv[0]);
+      return 0;
     } else if (arg.find("--run=") != std::string::npos) {
-        total_times = std::stoi(arg.substr(arg.find("=") + 1));
+      total_times = std::stoi(arg.substr(arg.find("=") + 1));
     }
   }
   printf(
       "The client will send a GetMap request continuously until receiving "
-      "response %d times.\n", total_times);
+      "response %d times.\n",
+      total_times);
 
   auto start = std::chrono::high_resolution_clock::now();
   auto node = rclcpp::Node::make_shared("stress_client_rclcpp");
@@ -60,7 +60,7 @@ int main(int argc, char* argv[]) {
     } else {
       auto result_future = client->async_send_request(request);
       if (rclcpp::spin_until_future_complete(node, result_future) !=
-          rclcpp::executor::FutureReturnCode::SUCCESS) {
+          rclcpp::FutureReturnCode::SUCCESS) {
         RCLCPP_ERROR(node->get_logger(), "service call failed.");
         return 1;
       }

package.json

@@ -15,7 +15,7 @@
   "scripts": {
     "install": "node-gyp rebuild",
     "docs": "cd docs && make",
-    "test": "node ./scripts/compile_tests.js && node --expose-gc ./scripts/run_test.js && npm run dtslint",
+    "test": "node ./scripts/compile_tests.js && node ./scripts/test.js && npm run dtslint",
     "dtslint": "node ./scripts/generate_tsd.js && dtslint test/types",
     "lint": "eslint --max-warnings=0 --ext js,ts index.js types scripts lib example rosidl_gen rosidl_parser test benchmark/rclnodejs && node ./scripts/cpplint.js",
     "postinstall": "node scripts/generate_messages.js",

scripts/compile_tests.js

@@ -14,111 +14,20 @@
 
 'use strict';
 
-/* eslint-disable */
-const fs = require('fs-extra');
-const os = require('os');
 const path = require('path');
 const child = require('child_process');
 
 var rootDir = path.dirname(__dirname);
 var testCppDir = path.join(rootDir, 'test', 'cpp');
 
-function getExecutable(input) {
-  if (os.platform() === 'win32') return input + '.exe';
-
-  return input;
-}
-
-var publisher = getExecutable('publisher_msg');
-var subscription = getExecutable('subscription_msg');
-var listener = getExecutable('listener');
-var client = getExecutable('add_two_ints_client');
-
-function getExecutablePath(input) {
-  var releaseDir = '';
-  if (os.platform() === 'win32') releaseDir = 'Release';
-
-  return path.join(rootDir, 'build', 'cpp_nodes', releaseDir, input);
-}
-
-var publisherPath = getExecutablePath(publisher);
-var subscriptionPath = getExecutablePath(subscription);
-var listenerPath = getExecutablePath(listener);
-var clientPath = getExecutablePath(client);
-
-function copyFile(platform, srcFile, destFile) {
-  if (!fs.existsSync(destFile)) {
-    if (os.platform() === 'win32') {
-      child.spawn('cmd.exe', ['/c', `copy ${srcFile} ${destFile}`]);
-    } else {
-      child.spawn('sh', ['-c', `cp ${srcFile} ${destFile}`]);
-    }
-  }
-}
-
-function copyAll(fileList, dest) {
-  fileList.forEach((file) => {
-    copyFile(os.platform(), file, path.join(dest, path.basename(file)));
-    console.log(`cpp executables ${file} is copied to test/cpp.`);
-  });
-}
-
-function copyPkgToRos2(pkgName) {
-  let srcDir = path.join(rootDir, 'install', pkgName);
-  let destDir = process.env.COLCON_PREFIX_PATH;
-  if (os.platform() === 'win32') {
-    child.spawn('cmd.exe', ['/c', `xcopy ${srcDir} ${destDir} /O /X /E /K`]);
-  } else {
-    child.spawn('sh', ['-c ', '"' + `cp -fr ${srcDir}/. ${destDir}` + '"'], {
-      shell: true,
-    });
-  }
-}
-
-var subProcess = child.spawn('colcon', [
-  'build',
-  '--event-handlers',
-  'console_cohesion+',
-  '--base-paths',
+const basePaths = [
   path.join(rootDir, 'test', 'rclnodejs_test_msgs'),
-]);
-subProcess.on('close', (code) => {
-  copyPkgToRos2('rclnodejs_test_msgs');
+  testCppDir,
+];
+
+// foxy has a bug where fastRTPS can't be found, a workaround is to add
+// AMENT_PREFIX_PATH to CMAKE_PREFIX_PATH
+process.env.CMAKE_PREFIX_PATH = `${process.env.CMAKE_PREFIX_PATH}:${process.env.AMENT_PREFIX_PATH}`;
+child.spawnSync('colcon', ['build', '--base-paths', ...basePaths], {
+  stdio: 'inherit',
 });
-subProcess.stdout.on('data', (data) => {
-  console.log(`${data}`);
-});
-subProcess.stderr.on('data', (data) => {
-  console.log(`${data}`);
-});
-
-if (
-  !fs.existsSync(publisherPath) &&
-  !fs.existsSync(subscriptionPath) &&
-  !fs.existsSync(listenerPath) &&
-  !fs.existsSync(clientPath)
-) {
-  var compileProcess = child.spawn('colcon', [
-    'build',
-    '--base-paths',
-    testCppDir,
-  ]);
-  compileProcess.on('close', (code) => {
-    copyAll(
-      [publisherPath, subscriptionPath, listenerPath, clientPath],
-      testCppDir
-    );
-  });
-  compileProcess.stdout.on('data', (data) => {
-    console.log(`${data}`);
-  });
-  compileProcess.stderr.on('data', (data) => {
-    console.log(`${data}`);
-  });
-} else {
-  copyAll(
-    [publisherPath, subscriptionPath, , listenerPath, clientPath],
-    testCppDir
-  );
-}
-/* eslint-enable */

scripts/run_test.js

@@ -19,14 +19,6 @@ const Mocha = require('mocha');
 const os = require('os');
 const path = require('path');
 
-let rootDir = path.dirname(__dirname);
-let actionPath = path.join(rootDir, 'test', 'ros1_actions');
-process.env.AMENT_PREFIX_PATH =
-  process.env.AMENT_PREFIX_PATH + path.delimiter + actionPath;
-let msgPath = path.join(rootDir, 'test', 'rclnodejs_test_msgs');
-process.env.AMENT_PREFIX_PATH =
-  process.env.AMENT_PREFIX_PATH + path.delimiter + msgPath;
-
 fs.remove(path.join(path.dirname(__dirname), 'generated'), (err) => {
   if (!err) {
     let mocha = new Mocha();

scripts/test.js

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+ */
+
+'use strict';
+
+const os = require('os');
+const childprocess = require('child_process');
+const path = require('path');
+
+const rootDir = path.dirname(__dirname);
+
+if (os.platform() === 'win32') {
+  childprocess.execSync(
+    `call ${rootDir}\\install\\setup.bat && node --expose-gc ${rootDir}\\scripts\\run_test.js`,
+    { stdio: 'inherit' }
+  );
+} else {
+  childprocess.execSync(
+    `. ${rootDir}/install/setup.bash && node --expose-gc ${rootDir}/scripts/run_test.js`,
+    { stdio: 'inherit', shell: 'bash' }
+  );
+}

test/cpp/add_two_ints_client.cpp

@@ -17,47 +17,45 @@
 #include <memory>
 #include <string>
 
+#include "example_interfaces/srv/add_two_ints.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rcutils/cmdline_parser.h"
-
 #include "std_msgs/msg/int8.hpp"
-#include "example_interfaces/srv/add_two_ints.hpp"
 
 using namespace std::chrono_literals;
 
 rclcpp::Publisher<std_msgs::msg::Int8>::SharedPtr publisher = nullptr;
 
-void print_usage()
-{
+void print_usage() {
   printf("Usage for add_two_ints_client app:\n");
   printf("add_two_ints_client [-t topic_name] [-h]\n");
   printf("options:\n");
   printf("-h : Print this help function.\n");
-  printf("-s service_name : Specify the service name for this client. Defaults to add_two_ints.\n");
+  printf(
+      "-s service_name : Specify the service name for this client. Defaults to "
+      "add_two_ints.\n");
 }
 
 // TODO(wjwwood): make this into a method of rclcpp::client::Client.
 example_interfaces::srv::AddTwoInts_Response::SharedPtr send_request(
-  rclcpp::Node::SharedPtr node,
-  rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client,
-  example_interfaces::srv::AddTwoInts_Request::SharedPtr request)
-{
+    rclcpp::Node::SharedPtr node,
+    rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client,
+    example_interfaces::srv::AddTwoInts_Request::SharedPtr request) {
   auto result = client->async_send_request(request);
   // Wait for the result.
   if (rclcpp::spin_until_future_complete(node, result) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
-  {
+      rclcpp::FutureReturnCode::SUCCESS) {
     return result.get();
   } else {
     return NULL;
   }
 }
 
-int main(int argc, char ** argv)
-{
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
 
-  auto node = rclcpp::Node::make_shared("add_two_ints_client", rclcpp::NodeOptions());
+  auto node =
+      rclcpp::Node::make_shared("add_two_ints_client", rclcpp::NodeOptions());
 
   if (rcutils_cli_option_exist(argv, argv + argc, "-h")) {
     print_usage();
@@ -70,35 +68,36 @@ int main(int argc, char ** argv)
   }
   auto client = node->create_client<example_interfaces::srv::AddTwoInts>(topic);
 
-  auto request = std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
+  auto request =
+      std::make_shared<example_interfaces::srv::AddTwoInts::Request>();
   request->a = 2;
   request->b = 3;
 
   while (!client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {
-      printf("add_two_ints_client was interrupted while waiting for the service. Exiting.\n");
+      printf(
+          "add_two_ints_client was interrupted while waiting for the service. "
+          "Exiting.\n");
       return 0;
     }
     printf("service not available, waiting again...\n");
   }
 
   auto msg = std::make_shared<std_msgs::msg::Int8>();
   publisher = node->create_publisher<std_msgs::msg::Int8>(
-    std::string("back_") + topic, 7);
-
+      std::string("back_") + topic, 7);
 
   auto future_result = client->async_send_request(request);
 
   // Wait for the result.
   if (rclcpp::spin_until_future_complete(node, future_result) ==
-    rclcpp::executor::FutureReturnCode::SUCCESS)
-  {
+      rclcpp::FutureReturnCode::SUCCESS) {
     // printf("Result of add_two_ints: %zd\n", future_result.get()->sum);
     msg->data = future_result.get()->sum;
     publisher->publish(*msg);
   } else {
     printf("add_two_ints_client_async was interrupted. Exiting.\n");
-  }  
+  }
 
   rclcpp::spin(node);
   return 0;