Refactor the gateway integration test suite into a dedicated ros2_medkit_integration_tests package

.github/workflows/ci.yml

@@ -169,6 +169,11 @@ jobs:
           lcov --extract coverage.raw.info \
             '*/ros2_medkit/src/*/src/*' \
             '*/ros2_medkit/src/*/include/*' \
+            --output-file coverage.extracted.info \
+            --ignore-errors unused,empty
+
+          lcov --remove coverage.extracted.info \
+            '*/vendored/*' \
             --output-file coverage.info \
             --ignore-errors unused,empty
 

codecov.yml

@@ -23,6 +23,7 @@ ignore:
   - "test/**/*"                    # Test files
   - "**/test_*.cpp"                # Test source files
   - "**/demo_nodes/**"             # Demo nodes (test fixtures)
+  - "**/vendored/**"               # Third-party vendored code
   - "build/**/*"                   # Build artifacts
   - "install/**/*"                 # Install artifacts
   - "log/**/*"                     # Log files

docs/design/index.rst

@@ -10,5 +10,5 @@ This section contains design documentation for the ros2_medkit project packages.
    ros2_medkit_fault_manager/index
    ros2_medkit_fault_reporter/index
    ros2_medkit_gateway/index
+   ros2_medkit_integration_tests/index
    ros2_medkit_serialization/index
-

docs/design/ros2_medkit_integration_tests

@@ -0,0 +1 @@
+../../src/ros2_medkit_integration_tests/design

docs/getting_started.rst

@@ -53,9 +53,10 @@ You should see:
 
 .. code-block:: bash
 
-   ros2 launch ros2_medkit_gateway demo_nodes.launch.py
+   ros2 launch ros2_medkit_integration_tests demo_nodes.launch.py
 
-This launches automotive demo nodes that we'll use to explore the API.
+This launches automotive demo nodes from the integration tests package that we'll
+use to explore the API.
 
 .. list-table:: Demo Nodes Created by demo_nodes.launch.py
    :header-rows: 1

docs/introduction.rst

@@ -62,6 +62,9 @@ ros2_medkit consists of several ROS 2 packages:
 **ros2_medkit_msgs**
    Message and service definitions for fault management.
 
+**ros2_medkit_integration_tests**
+   Integration tests, automotive-themed demo nodes, and shared test utilities.
+
 Next Steps
 ----------
 
@@ -76,4 +79,3 @@ Community
 - 💬 **Discord**: `Join our server <https://discord.gg/6CXPMApAyq>`_
 - 🐛 **Issues**: `Report bugs <https://github.com/selfpatch/ros2_medkit/issues>`_
 - 💡 **Discussions**: `GitHub Discussions <https://github.com/selfpatch/ros2_medkit/discussions>`_
-

docs/tutorials/devcontainer.rst

@@ -132,8 +132,8 @@ Running Tests
    # All tests
    colcon test && colcon test-result --verbose
 
-   # Unit tests only
-   colcon test --ctest-args -E test_integration
+   # Unit tests only (exclude integration tests package)
+   colcon test --packages-skip ros2_medkit_integration_tests
 
    # Linters only
    colcon test --ctest-args -L linters

src/ros2_medkit_gateway/CMakeLists.txt

@@ -33,8 +33,6 @@ find_package(yaml_cpp_vendor REQUIRED)
 medkit_find_yaml_cpp()
 find_package(ament_index_cpp REQUIRED)
 find_package(action_msgs REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(example_interfaces REQUIRED)
 find_package(ros2_medkit_msgs REQUIRED)
 find_package(ros2_medkit_serialization REQUIRED)
 
@@ -391,190 +389,6 @@ if(BUILD_TESTING)
     endforeach()
   endif()
 
-  # Integration testing
-  find_package(ament_cmake_pytest REQUIRED)
-  find_package(launch_testing_ament_cmake REQUIRED)
-
-  # Install test directory
-  install(DIRECTORY test
-    DESTINATION share/${PROJECT_NAME}
-  )
-
-  # Add integration tests
-  add_launch_test(
-    test/test_integration.test.py
-    TARGET test_integration
-    TIMEOUT 600
-  )
-
-  # Add CORS integration tests
-  add_launch_test(
-    test/test_cors.test.py
-    TARGET test_cors
-    TIMEOUT 60
-  )
-
-  # Add rate limiting integration tests
-  add_launch_test(
-    test/test_rate_limiting.test.py
-    TARGET test_rate_limiting
-    TIMEOUT 90
-  )
-
-  # Add authentication integration tests
-  add_launch_test(
-    test/test_auth.test.py
-    TARGET test_auth
-    TIMEOUT 120
-  )
-
-  # Add TLS/HTTPS integration tests
-  add_launch_test(
-    test/test_tls.test.py
-    TARGET test_tls
-    TIMEOUT 120
-  )
-
-  # Add manifest-only discovery integration tests
-  add_launch_test(
-    test/test_discovery_manifest.test.py
-    TARGET test_discovery_manifest
-    TIMEOUT 120
-  )
-
-  # Add hybrid discovery integration tests
-  add_launch_test(
-    test/test_discovery_hybrid.test.py
-    TARGET test_discovery_hybrid
-    TIMEOUT 120
-  )
-
-  # Add heuristic apps discovery integration tests
-  add_launch_test(
-    test/test_discovery_heuristic_apps.test.py
-    TARGET test_discovery_heuristic_apps
-    TIMEOUT 120
-  )
-
-  # Add bulk data upload/delete integration tests
-  add_launch_test(
-    test/test_bulkdata_upload.test.py
-    TARGET test_bulkdata_upload
-    TIMEOUT 120
-  )
-
-  # Add cyclic subscriptions integration tests
-  add_launch_test(
-    test/test_cyclic_subscriptions.test.py
-    TARGET test_cyclic_subscriptions
-    TIMEOUT 120
-  )
-
-  # Demo automotive nodes
-  add_executable(demo_engine_temp_sensor
-    test/demo_nodes/engine_temp_sensor.cpp
-  )
-  ament_target_dependencies(demo_engine_temp_sensor
-    rclcpp
-    rcl_interfaces
-    sensor_msgs
-  )
-  install(TARGETS demo_engine_temp_sensor
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_rpm_sensor
-    test/demo_nodes/rpm_sensor.cpp
-  )
-  ament_target_dependencies(demo_rpm_sensor
-    rclcpp
-    std_msgs
-  )
-  install(TARGETS demo_rpm_sensor
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_brake_pressure_sensor
-    test/demo_nodes/brake_pressure_sensor.cpp
-  )
-  ament_target_dependencies(demo_brake_pressure_sensor
-    rclcpp
-    std_msgs
-  )
-  install(TARGETS demo_brake_pressure_sensor
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_door_status_sensor
-    test/demo_nodes/door_status_sensor.cpp
-  )
-  ament_target_dependencies(demo_door_status_sensor
-    rclcpp
-    std_msgs
-  )
-  install(TARGETS demo_door_status_sensor
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  # demo actuators
-  add_executable(demo_brake_actuator
-    test/demo_nodes/brake_actuator.cpp
-  )
-  ament_target_dependencies(demo_brake_actuator
-    rclcpp
-    std_msgs
-  )
-  install(TARGETS demo_brake_actuator
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_light_controller
-    test/demo_nodes/light_controller.cpp
-  )
-  ament_target_dependencies(demo_light_controller
-    rclcpp
-    std_msgs
-  )
-  install(TARGETS demo_light_controller
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_calibration_service
-    test/demo_nodes/calibration_service.cpp
-  )
-  ament_target_dependencies(demo_calibration_service
-    rclcpp
-    std_srvs
-  )
-  install(TARGETS demo_calibration_service
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_long_calibration_action
-    test/demo_nodes/long_calibration_action.cpp
-  )
-  ament_target_dependencies(demo_long_calibration_action
-    rclcpp
-    rclcpp_action
-    example_interfaces
-  )
-  install(TARGETS demo_long_calibration_action
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  add_executable(demo_lidar_sensor
-    test/demo_nodes/lidar_sensor.cpp
-  )
-  ament_target_dependencies(demo_lidar_sensor
-    rclcpp
-    rcl_interfaces
-    sensor_msgs
-    std_srvs
-    ros2_medkit_msgs
-  )
-  install(TARGETS demo_lidar_sensor
-    DESTINATION lib/${PROJECT_NAME}
-  )
 endif()
 
 ament_package()

src/ros2_medkit_gateway/package.xml

@@ -35,12 +35,6 @@
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_clang_tidy</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
-  <test_depend>python3-requests</test_depend>
-  <test_depend>rclcpp_action</test_depend>
-  <test_depend>example_interfaces</test_depend>
-  <test_depend>ros2_medkit_fault_manager</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>