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* Upgrade CI actions to latest version to fix build * upgrade tests to match foxy api * rewrite e2e tests as launch tests to remove process management logic Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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| Original file line number | Diff line number | Diff line change |
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| __pycache__/ |
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| # Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
| # | ||
| # 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. | ||
| from collections import Counter | ||
| from pathlib import Path | ||
| from threading import Lock | ||
| from typing import Iterable | ||
| from typing import Set | ||
| import unittest | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from lifecycle_msgs.msg import State | ||
| import rclpy | ||
| from rclpy.task import Future | ||
| import retrying | ||
| import ros2lifecycle.api | ||
| import ros2node.api | ||
| from statistics_msgs.msg import MetricsMessage | ||
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| def include_python_launch_file(package: str, launchfile: str) -> IncludeLaunchDescription: | ||
| package_dir = Path(get_package_share_directory(package)) | ||
| launchfile_path = str(package_dir / launchfile) | ||
| return IncludeLaunchDescription(PythonLaunchDescriptionSource(launchfile_path)) | ||
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| class TestMetricsBase(unittest.TestCase): | ||
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| @classmethod | ||
| def setUpClass(cls): | ||
| rclpy.init() | ||
| cls.node = rclpy.create_node('test_system_metrics_nodes') | ||
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| @classmethod | ||
| def tearDownClass(cls): | ||
| cls.node.destroy_node() | ||
| rclpy.shutdown() | ||
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| @retrying.retry( | ||
| stop_max_attempt_number=10, | ||
| wait_exponential_multiplier=1000, | ||
| wait_exponential_max=10000) | ||
| def _test_nodes_exist(self, expected_nodes: Set[str]): | ||
| node_names = ros2node.api.get_node_names(node=self.node) | ||
| full_names = {n.full_name for n in node_names} | ||
| self.assertTrue(expected_nodes.issubset(full_names)) | ||
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| @retrying.retry( | ||
| stop_max_attempt_number=10, | ||
| wait_exponential_multiplier=1000, | ||
| wait_exponential_max=10000) | ||
| def _test_lifecycle_nodes_exist(self, expected_nodes: Set[str]) -> None: | ||
| node_names = ros2lifecycle.api.get_node_names(node=self.node) | ||
| full_names = {n.full_name for n in node_names} | ||
| self.assertTrue(expected_nodes.issubset(full_names)) | ||
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| def _test_lifecycle_nodes_active(self, expected_lifecycle_nodes: Iterable[str]) -> None: | ||
| states = ros2lifecycle.api.call_get_states( | ||
| node=self.node, | ||
| node_names=expected_lifecycle_nodes) | ||
| self.assertTrue(all(s.id == State.PRIMARY_STATE_ACTIVE for s in states.values())) | ||
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| def _test_topic_exists(self, topic_name: str) -> None: | ||
| topics_and_types = self.node.get_topic_names_and_types() | ||
| found = False | ||
| for name, types in topics_and_types: | ||
| if name == topic_name: | ||
| found = True | ||
| assert all(t == 'statistics_msgs/msg/MetricsMessage' for t in types) | ||
| self.assertTrue(found, f'No topic named {topic_name}') | ||
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| def _test_statistic_publication(self, topic_name: str, expected_nodes: Iterable[str]): | ||
| future = Future() | ||
| message_counter = Counter() | ||
| lock = Lock() | ||
| # arbitrary choice, just tells if it's working for a little while | ||
| expected_messages_per_node = 3 | ||
| # we are receiving stats every 10 seconds, so this should pass in 30s | ||
| timeout_sec = 180 | ||
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| def message_callback(msg): | ||
| node_name = '/' + msg.measurement_source_name | ||
| with lock: | ||
| message_counter[node_name] += 1 | ||
| if all( | ||
| message_counter[node] >= expected_messages_per_node | ||
| for node in expected_nodes | ||
| ): | ||
| print('Successfully received all expected messages') | ||
| future.set_result(True) | ||
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| sub = self.node.create_subscription( | ||
| MetricsMessage, topic_name, message_callback, qos_profile=10) | ||
| rclpy.spin_until_future_complete(self.node, future, timeout_sec=timeout_sec) | ||
| self.assertTrue(future.done(), f'Timed out, received message count: {message_counter}') | ||
| self.node.destroy_subscription(sub) |
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| @@ -0,0 +1,64 @@ | ||
| # Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
| # | ||
| # 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 os | ||
| import sys | ||
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| from launch import LaunchDescription | ||
| import launch_testing | ||
| import pytest | ||
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| # Allow relative import even though we are not in a real module | ||
| sys.path.insert(0, os.path.dirname(os.path.abspath(__file__))) | ||
| from base_metrics_test import include_python_launch_file, TestMetricsBase # noqa: E402, I100 | ||
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| EXPECTED_LIFECYCLE_NODES = { | ||
| '/linux_system_cpu_collector', | ||
| '/linux_system_memory_collector', | ||
| '/listener_process_cpu_node', | ||
| '/listener_process_memory_node', | ||
| '/talker_process_cpu_node', | ||
| '/talker_process_memory_node', | ||
| } | ||
| EXPECTED_REGULAR_NODES = { | ||
| '/listener', | ||
| '/talker', | ||
| } | ||
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| @pytest.mark.launch_test | ||
| def generate_test_description(): | ||
| return LaunchDescription([ | ||
| include_python_launch_file( | ||
| 'system_metrics_collector', 'examples/talker_listener_example.launch.py'), | ||
| launch_testing.actions.ReadyToTest(), | ||
| ]) | ||
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| class TestSystemMetricsLaunch(TestMetricsBase): | ||
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| def test_nodes_exist(self): | ||
| return self._test_nodes_exist(EXPECTED_LIFECYCLE_NODES.union(EXPECTED_REGULAR_NODES)) | ||
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| def test_lifecycle_nodes_exist(self): | ||
| return self._test_lifecycle_nodes_exist(EXPECTED_LIFECYCLE_NODES) | ||
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| def test_lifecycle_nodes_active(self): | ||
| return self._test_lifecycle_nodes_active(EXPECTED_LIFECYCLE_NODES) | ||
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| def test_topics_exist(self): | ||
| return self._test_topic_exists('/system_metrics') | ||
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| def test_statistic_publication(self): | ||
| return self._test_statistic_publication('/system_metrics', EXPECTED_LIFECYCLE_NODES) |
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