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Implement and adapt RosSystem tests for the new attribute ComponentStacks
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Lines changed: 328 additions & 29 deletions

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‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks.rossystem‎

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RosSystem { Name 'test_stacks'
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RosComponentStacks (
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ComponentStack {
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name stack1
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RosComponents (
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ComponentInterface { name test_node
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FromRosNode "test_pkg.test_node.test_node"
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RosPublishers{ RosPublisher "scan" { RefPublisher "test_pkg.test_node.test_node.scan"} }
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RosSubscribers{ RosSubscriber "power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state"} }
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RosSrvServers{ RosServiceServer "setBool" { RefServer "test_pkg.test_node.test_node.setBool"} }
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RosSrvClients{ RosServiceClient "init" { RefClient "test_pkg.test_node.test_node.init"} }
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RosParameters{ RosParameter "string_test" { RefParameter "test_pkg.test_node.test_node.string_test"},
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RosParameter "bool_tets" { RefParameter "test_pkg.test_node.test_node.bool_tets"},
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RosParameter "array_tets" { RefParameter "test_pkg.test_node.test_node.array_tets"},
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RosParameter "base64_test" { RefParameter "test_pkg.test_node.test_node.base64_test"},
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RosParameter "double_test" { RefParameter "test_pkg.test_node.test_node.double_test"},
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RosParameter "int_test" { RefParameter "test_pkg.test_node.test_node.int_test"},
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RosParameter "list_test" { RefParameter "test_pkg.test_node.test_node.list_test"}}},
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ComponentInterface { name test_node2 NameSpace test2
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FromRosNode "test_pkg.test_node.test_node"
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RosPublishers { RosPublisher "scan" { RefPublisher "test_pkg.test_node.test_node.scan" } }
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RosSubscribers { RosSubscriber "power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state" } }
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RosSrvServers { RosServiceServer "setBool" { RefServer "test_pkg.test_node.test_node.setBool" } }
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RosSrvClients { RosServiceClient "init" { RefClient "test_pkg.test_node.test_node.init" } }
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RosParameters { RosParameter "string_test" { RefParameter "test_pkg.test_node.test_node.string_test" } ,
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RosParameter "bool_tets" { RefParameter "test_pkg.test_node.test_node.bool_tets" } ,
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RosParameter "array_tets" { RefParameter "test_pkg.test_node.test_node.array_tets" } ,
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RosParameter "base64_test" { RefParameter "test_pkg.test_node.test_node.base64_test" } ,
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RosParameter "double_test" { RefParameter "test_pkg.test_node.test_node.double_test" } ,
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RosParameter "int_test" { RefParameter "test_pkg.test_node.test_node.int_test" } ,
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RosParameter "list_test" { RefParameter "test_pkg.test_node.test_node.list_test" }}})},
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ComponentStack {
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name stack2
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RosComponents (
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ComponentInterface { name test_nodea
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RosPublishers { RosPublisher power_state { RefPublisher "test_pkg.test_node.test_node.power_state" } }
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RosSubscribers { RosSubscriber scan { RefSubscriber "test_pkg.test_node.test_node.scan" } }
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RosSrvServers { RosServiceServer init { RefServer "test_pkg.test_node.test_node.init" } }
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RosSrvClients { RosServiceClient SetBool { RefClient "test_pkg.test_node.test_node.SetBool" }}}
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)
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}
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)
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}

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/docker-compose.yml‎

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version: "3.3"
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networks:
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ros:
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driver: bridge
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services:
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ros-master:
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image: ros:melodic-ros-core
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command: stdbuf -o L roscore
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networks:
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- ros
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test_stacks_stack1:
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image: "test_stacks_stack1:latest"
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depends_on:
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- ros-master
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environment:
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- "ROS_MASTER_URI=http://ros-master:11311"
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- "ROS_HOSTNAME=stack1"
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networks:
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- ros
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command: stdbuf -o L roslaunch test_stacks_stack1 stack1.launch --wait
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test_stacks_stack2:
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image: "test_stacks_stack2:latest"
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depends_on:
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- ros-master
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environment:
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- "ROS_MASTER_URI=http://ros-master:11311"
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- "ROS_HOSTNAME=stack2"
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networks:
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- ros
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command: stdbuf -o L roslaunch test_stacks_stack2 stack2.launch --wait
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‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(test_stacks_stack1)
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find_package(catkin REQUIRED)
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catkin_package()
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### INSTALL ###
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/Dockerfile‎

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# syntax=docker/dockerfile:experimental
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ARG SUFFIX=
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ARG PREFIX=
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FROM ros:melodic-ros-core as base
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FROM ${PREFIX}builder${SUFFIX} as builder
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FROM base as build
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COPY . /root/ws/src/test_stacks_stack1/
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash build_workspace /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM build as test
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash test_workspace /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM build as install
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash install_workspace /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM install as full
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash install_depends /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM base as deploy
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RUN --mount=type=bind,from=builder,target=/builder --mount=type=bind,target=/root/ws,from=install,source=/root/ws \
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apt-get update -qq && \
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/builder/workspace.bash install_depends /root/ws && \
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rm -rf /var/lib/apt/lists/*
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COPY --from=install /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
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FROM deploy as launch
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CMD ["roslaunch", "test_stacks_stack1", "stack1.launch"]

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/launch/stack1.launch‎

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<?xml version="1.0"?>
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<launch>
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<node pkg="test_pkg" type="test_node" name="test_node" cwd="node" respawn="false" output="screen">
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</node>
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<node pkg="test_pkg" type="test_node" name="test_node2" ns="test2" cwd="node" respawn="false" output="screen">
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</node>
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</launch>

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack1/package.xml‎

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<package format="2">
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<name>test_stacks_stack1</name>
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<version>0.0.1</version>
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<description>This package provides launch file for operating test_stacks_stack1</description>
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<license>Apache 2.0</license>
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<url type="website">http://wiki.ros.org/</url>
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<maintainer email="jane.doe@example.com">Jane Doe</maintainer>
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<author email="jane.doe@example.com">Jane Doe</author>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>test_pkg</exec_depend>
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<!--test_depend>roslaunch</test_depend-->
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</package>

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(test_stacks_stack2)
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find_package(catkin REQUIRED)
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catkin_package()
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### INSTALL ###
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/Dockerfile‎

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# syntax=docker/dockerfile:experimental
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ARG SUFFIX=
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ARG PREFIX=
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FROM ros:melodic-ros-core as base
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FROM ${PREFIX}builder${SUFFIX} as builder
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FROM base as build
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COPY . /root/ws/src/test_stacks_stack2/
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash build_workspace /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM build as test
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash test_workspace /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM build as install
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash install_workspace /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM install as full
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RUN --mount=type=bind,from=builder,target=/builder \
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apt-get update -qq && \
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/builder/workspace.bash install_depends /root/ws && \
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rm -rf /var/lib/apt/lists/*
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FROM base as deploy
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RUN --mount=type=bind,from=builder,target=/builder --mount=type=bind,target=/root/ws,from=install,source=/root/ws \
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apt-get update -qq && \
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/builder/workspace.bash install_depends /root/ws && \
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rm -rf /var/lib/apt/lists/*
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COPY --from=install /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
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FROM deploy as launch
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CMD ["roslaunch", "test_stacks_stack2", "stack2.launch"]

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/launch/stack2.launch‎

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<?xml version="1.0"?>
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<launch>
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<node pkg="test_pkg" type="test_node" name="test_nodea" cwd="node" respawn="false" output="screen">
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</node>
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</launch>

‎plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_stacks/test_stacks_stack2/package.xml‎

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<package format="2">
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<name>test_stacks_stack2</name>
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<version>0.0.1</version>
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<description>This package provides launch file for operating test_stacks_stack2</description>
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<license>Apache 2.0</license>
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<url type="website">http://wiki.ros.org/</url>
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<maintainer email="jane.doe@example.com">Jane Doe</maintainer>
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<author email="jane.doe@example.com">Jane Doe</author>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>test_pkg</exec_depend>
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<!--test_depend>roslaunch</test_depend-->
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</package>

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