Refactor the gateway integration test suite into a dedicated `ros2_medkit_integration_tests` package by bburda · Pull Request #227 · selfpatch/ros2_medkit

bburda · 2026-02-19T16:43:39Z

Pull Request

Summary

Refactor the gateway integration test suite into a dedicated ros2_medkit_integration_tests package with a shared Python test library (ros2_medkit_test_utils), two-tier test organization (features + scenarios), CMake labels, and structural fixes for flaky tests.

What changed:

New package ros2_medkit_integration_tests - contains all integration tests, demo nodes, launch files, config YAMLs, and a shared Python test library
Shared test library ros2_medkit_test_utils (4 modules) - eliminates ~1,200 lines of duplicated code: get_coverage_env() (9 copies), health polling (9 variants), demo node launch boilerplate, HTTP helpers
Monolithic test_integration.test.py (4,990 lines, 141 tests) split into 16 feature test files (~90 tests) and 10 scenario test files (~50 tests) - each file launches its own gateway with only the demo nodes it needs
CMake labels (integration;feature, integration;scenario) enable colcon test --ctest-args -L feature filtering
Gateway package cleaned up - removed integration test files, demo node build targets, and test-only dependencies; unit tests (26 GTest targets) stay unchanged

Key library modules:

constants.py - shared API paths, ports, timeouts (replaces 50+ duplicated lines)
coverage.py - single get_coverage_env() (replaces 9 copies, ~270 lines)
launch_helpers.py - create_test_launch() factory (replaces ~500 lines of inline launch boilerplate)
gateway_test_case.py - GatewayTestCase base class with health polling, HTTP helpers, discovery waiters, assertion helpers

Issue

Type

Bug fix
New feature or tests
Breaking change
Documentation only

Testing

Build verification:

source /opt/ros/jazzy/setup.bash
colcon build --symlink-install
# All 7 packages build successfully

Gateway unit tests (unchanged):

colcon test --packages-select ros2_medkit_gateway
colcon test-result --verbose
# 26/26 GTest targets pass

Integration test registration:

cd build/ros2_medkit_integration_tests
ctest -N                  # 26 tests registered (16 feature + 10 scenario)
ctest -N -L feature       # 16 feature tests
ctest -N -L scenario      # 10 scenario tests
ctest -N -L integration   # 26 total

Run integration tests:

colcon test --packages-select ros2_medkit_integration_tests
colcon test-result --verbose

Coverage still works from separate package - get_coverage_env() resolves ros2_medkit_gateway's build dir via ament_index_python, gateway binary writes .gcda to GCOV_PREFIX, CI lcov --capture --directory build scans the entire build directory.

Issue #222 (flaky test_101): The race condition is resolved structurally - test_scenario_action_lifecycle.test.py replaces the problematic test_100 + test_101 sequence. Each test creates its own execution (no concurrent action goals from previous tests).

Issue #139 (multi-discovery-mode): Two new scenario files (test_scenario_discovery_manifest.test.py, test_scenario_discovery_hybrid.test.py) test manifest-only and hybrid modes. Shared assertion helpers (assert_entity_exists, assert_entity_has_capabilities, etc.) in GatewayTestCase support mode-specific validation. Runtime mode is tested implicitly by all feature tests (default mode).

Checklist

Breaking changes are clearly described (and announced in docs / changelog if needed)
Tests were added or updated if needed
Docs were updated if behavior or public API changed

Copilot

Pull request overview

This pull request extracts integration tests and demo nodes from ros2_medkit_gateway into a new dedicated package ros2_medkit_integration_tests. The refactoring improves test organization by separating integration tests into two categories: scenario tests (end-to-end stories) and feature tests (atomic, independent tests). A new ros2_medkit_test_utils Python package provides shared utilities including launch helpers, base test classes, and constants.

Changes:

Created new ros2_medkit_integration_tests package with demo nodes, test utilities, and reorganized tests
Moved 9 demo node C++ files from ros2_medkit_gateway/test/demo_nodes/ to the new package
Split monolithic integration tests into 23 smaller test files organized by scenario vs. feature
Removed integration test dependencies from ros2_medkit_gateway package.xml and CMakeLists.txt
Updated launch files and test references to use new package names

Reviewed changes

Copilot reviewed 39 out of 49 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
src/ros2_medkit_integration_tests/package.xml	New package metadata with test and demo node dependencies
src/ros2_medkit_integration_tests/CMakeLists.txt	Build config for demo nodes and test registration with proper timeouts
src/ros2_medkit_integration_tests/setup.cfg	Python package setup for test utilities
src/ros2_medkit_integration_tests/ros2_medkit_test_utils/*	Shared test utilities: constants, coverage helpers, launch factories, base test class
src/ros2_medkit_integration_tests/test/scenarios/*	9 scenario test files (end-to-end stories, 300s timeout)
src/ros2_medkit_integration_tests/test/features/*	14 feature test files (atomic tests, 120s timeout)
src/ros2_medkit_integration_tests/demo_nodes/*	9 demo node C++ files moved from gateway package
src/ros2_medkit_integration_tests/launch/demo_nodes.launch.py	Launch file updated to reference new package
src/ros2_medkit_gateway/package.xml	Removed test dependencies (pytest, launch_testing, etc.)
src/ros2_medkit_gateway/CMakeLists.txt	Removed integration tests and demo node build targets

New ament_cmake package for integration tests and demo nodes. Includes CMakeLists.txt with file-glob test discovery and integration;feature / integration;scenario CMake labels. Refs #139, #222

Four modules replacing ~1200 lines of duplicated code: - constants.py: API paths, ports, timeouts - coverage.py: unified get_coverage_env() - launch_helpers.py: factory for gateway/demo/fault_manager nodes - gateway_test_case.py: base class with health polling, HTTP helpers, wait helpers, and discovery assertions Refs #139, #222

9 demo C++ executables and demo_nodes.launch.py moved from ros2_medkit_gateway. Package references updated to ros2_medkit_integration_tests. Refs #139, #222

First integration test in the new package. Verifies gateway health, root, version, and docs endpoints. Confirms test_utils library, demo node launching, and coverage collection all work. Refs #139, #222

11 feature test files covering entity listing, data read/write, operations, configuration, faults, HATEOAS, routing, bulk data, SSE, and snapshots. All tests use GatewayTestCase base class and descriptive test names. Refs #139, #222

Migrated from gateway package. Using shared test_utils for coverage, constants, and launch helpers. Custom configs preserved for auth (JWT), CORS (dual gateway), TLS (certs), and heuristic (app_strategy params). Refs #139, #222

6 scenario files: action lifecycle, config management, fault lifecycle, fault inspection, bulk data download, data publish. Each scenario is self-contained with descriptive docstrings. Fixes #222 by eliminating concurrent action goal race condition. Fixes #222 Refs #139

Replaces test_discovery_manifest and test_discovery_hybrid from gateway package with scenario-style tests using shared assertion helpers. Each scenario validates entity structure, capabilities, and mode-specific behavior. Refs #139

Migrated from gateway package with scenario-style structure. Using shared test_utils for launch helpers and base test case. Refs #139

Integration tests and demo nodes moved to ros2_medkit_integration_tests package. Gateway retains only production code and GTest unit tests. Refs #139, #222

- Add 'calibration_service' and 'long_calibration_action' aliases to DEMO_NODE_REGISTRY (fixes KeyError in test_entity_routing and test_operations_api) - Fix camelCase 'faultCode' -> snake_case 'fault_code' in test_scenario_fault_lifecycle to match actual API response - Replace strict assertExitCodes with SIGTERM-tolerant exit code check across all 24 test files (exit code -15 is expected during launch_testing shutdown) - Add polling loop in test_scenario_discovery_hybrid test_15 to wait for runtime linking (apps become online asynchronously after nodes start)

- long_calibration_action: replace detached thread with joinable thread and atomic shutdown flag; add try-catch for goal handle interactions; use set_terminate to handle rclcpp_action race during SIGINT shutdown - All timer-based demo nodes: cancel timers in destructor to prevent callbacks firing during node destruction (fixes SIGSEGV on Humble) - Revert gateway-only exit code guard: all processes must exit cleanly - Fix test_discovery_heuristic exit code check (was silently passing)

…n tests package - Add README.md with package structure, test templates, and GatewayTestCase API - Add design/index.rst with PlantUML architecture diagram and test catalog - Add symlink and toctree entry in docs/design/ - Add package description in docs/introduction.rst - Fix demo_nodes.launch.py package reference in getting_started.rst - Update devcontainer.rst test filtering for new package structure

- Add REQUIRED_APPS to test_hateoas discovery wait so temp_sensor is guaranteed to be discovered before tests run (fixes 404 on all platforms) - Increase fault_manager test timeout from 1s to 3s for Humble's slower DDS service discovery - Accept either "not available" or "timed out" error in service availability tests (wait_for_service behavior varies across distros) - Exclude vendored/ from coverage in both codecov.yml and CI lcov filter

On Humble (CycloneDDS), reusing the same node name across sequential GTest cases causes stale DDS participant discovery state. This corrupts service responses in the second test when the first test did not create a service. Using unique node names per test eliminates the collision. Fixes test_fault_manager on Humble CI (GetSnapshotsSuccessWithValidJson).

…kage

… race Add poll_endpoint() and poll_endpoint_until() to the base test case, replacing 8 duplicated polling helpers across 7 test files. The predicate-based poll_endpoint_until() supports both boolean checks and value extraction from response JSON. Fixes test_app_no_topics flake on Jazzy where the calibration service-only node transiently disappeared from the ROS 2 graph between the entity readiness check and the data request.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_fault_inspection.test.py

+            f'{self.LIDAR_ENDPOINT}/faults',
+            lambda d: next(
+                (
+                    item.get('faultCode')


Bug: The poll condition uses faultCode (camelCase) but the listing API returns fault_code (snake_case) - confirmed in fault_manager.cpp:61. This means the condition never matches, poll_endpoint_until times out, and all 6 tests in this file silently skip via skip_on_timeout=True.

# Current (never matches): item.get('faultCode') # Should be: item.get('fault_code')

Fixed in e0e39e0.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/package.xml

+  <depend>ros2_medkit_msgs</depend>
+
+  <!-- Test dependencies (Python integration tests) -->
+  <test_depend>launch_testing_ament_cmake</test_depend>


Missing a few test dependencies that could bite on minimal build environments:

<test_depend>launch_testing</test_depend> <test_depend>launch_ros</test_depend> <test_depend>ament_index_python</test_depend>

launch_testing_ament_cmake is the CMake glue, but the Python packages (launch_testing, launch_ros) and ament_index_python (used in coverage.py) are separate.

Fixed in e0e39e0 - added all three as <test_depend>.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/ros2_medkit_test_utils/gateway_test_case.py

+            time.sleep(DISCOVERY_INTERVAL)
+
+        # Deadline reached -- warn but continue; individual tests may fail.
+        print('Warning: Discovery timeout, some tests may fail')


_wait_for_discovery() only prints a warning on timeout, while _wait_for_gateway_health() raises SkipTest. This asymmetry means a slow discovery causes a wall of confusing cascading failures instead of a clean skip. Would it make sense to align these?

# Current: print('Warning: Discovery timeout, some tests may fail') # Suggested: raise unittest.SkipTest( f'Discovery incomplete after {DISCOVERY_TIMEOUT}s — ' f'found {len(discovered_apps)} apps, need {cls.MIN_EXPECTED_APPS}' )

Both _wait_for_gateway_health() and _wait_for_discovery() now raise AssertionError on timeout. Fixed in b12dbc4.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_discovery_hybrid.test.py

+    def test_16_app_has_runtime_topics(self):
+        """Online app has topics from runtime discovery."""
+        # Wait a bit for runtime linking
+        time.sleep(3)


These tests (16-17, 22-23) wrap assertions in if response.status_code == 200: guards, which means they pass silently when the endpoint isn't ready. Compare with test_15 which correctly uses poll_endpoint_until(). Could we do the same here?

# Current (silently passes without asserting anything): response = requests.get(f'{self.BASE_URL}/apps/engine-temp-sensor/data', timeout=5) if response.status_code == 200: data = response.json() if 'items' in data and data['items']: # ...assert... # Suggested — poll until data arrives, then assert unconditionally: data = self.poll_endpoint_until( '/apps/engine-temp-sensor/data', lambda d: d.get('items'), timeout=15.0, ) topic_names = [t.get('name', '') for t in data] self.assertTrue(any('temperature' in name for name in topic_names))

Same pattern in test_scenario_discovery_manifest.test.py:364 (test_25_discovery_stats).

Fixed in e0e39e0 - replaced if status == 200 guards with poll_endpoint_until() in the hybrid test.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_discovery_manifest.test.py

+        Online status depends on runtime linking timing.
+        """
+        # Wait a bit for runtime linking
+        time.sleep(5)


Bare time.sleep(5) instead of polling. Flaky on slow CI, wasteful on fast machines. The hybrid test_15 already uses poll_endpoint_until() correctly - could this follow the same pattern?

Same issue in test_scenario_discovery_hybrid.test.py:298 (time.sleep(3)).

Fixed in e0e39e0 - replaced bare time.sleep() with poll_endpoint_until() in manifest and hybrid tests.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_subscriptions.test.py

+        # Wait for data availability on the discovered app
        # Skip ROS 2 system topics that don't have continuous data flow
        system_topics = {'/parameter_events', '/rosout'}
        deadline = time.time() + 15.0


Minor: time.time() here while the base class consistently uses time.monotonic() (immune to NTP clock adjustments). Worth aligning for consistency.

Fixed in b12dbc4 - all timing now uses time.monotonic().

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_subscriptions.test.py

@@ -223,16 +181,15 @@ def test_01_create_subscription_returns_201_with_correct_schema(self):
        self._delete_subscription(sub['id'])


If an assertion fails before _delete_subscription(), the subscription leaks and can affect subsequent tests. addCleanup() would guarantee cleanup regardless:

sub = self._create_subscription() self.addCleanup(self._delete_subscription, sub['id'])

(I noticed addCleanup / tearDown aren't used anywhere in the package currently.)

Fixed in f554a46 - added addCleanup to test_12. All subscription-creating tests now use it.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/ros2_medkit_test_utils/gateway_test_case.py

+
+    """
+
+    PORT = DEFAULT_PORT


Nit: PORT class attribute is never read by any test (confirmed with grep). Subclasses override BASE_URL directly. Could just remove PORT to avoid confusion.

Removed in f554a46.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/features/test_health.test.py

+        self.assertIn('capabilities', data)
+
+        self.assertEqual(data['name'], 'ROS 2 Medkit Gateway')
+        self.assertEqual(data['version'], '0.1.0')


assertEqual(data['version'], '0.1.0') will break on every version bump. A format check (e.g. semver regex) would be more resilient.

Fixed in e0e39e0 - uses semver regex (assertRegex) instead of exact match.

mfaferek93 · 2026-02-20T19:34:16Z

src/ros2_medkit_integration_tests/test/features/test_configuration_api.test.py

+        self.assertEqual(verify_data['x-medkit']['parameter']['value'], 80.0)
+
+        # Reset the value back to default using SOVD "data" field
+        requests.put(


If the assertion fails before this reset PUT, min_temp stays at 80.0. addCleanup() would guarantee the reset regardless of test outcome.

Fixed in f554a46 - added addCleanup with DELETE to reset min_temp to default.

mfaferek93 · 2026-02-20T19:34:30Z

Stale references

The launch file moved but a few references still point to the old package:

src/ros2_medkit_gateway/README.md lines 1000, 1343, 1371
postman/README.md line 77
src/ros2_medkit_gateway/config/examples/demo_nodes_manifest.yaml line 6

All say ros2 launch ros2_medkit_gateway demo_nodes.launch.py - should be ros2_medkit_integration_tests.

mfaferek93 · 2026-02-20T19:39:45Z

src/ros2_medkit_integration_tests/test/features/test_auth.test.py

    def setUpClass(cls):
        """Wait for gateway to be ready and get tokens."""
+        cls._wait_for_gateway_health()
        time.sleep(1)


If the auth endpoint isn't ready, response.status_code != 200 and the token is never stored. Then _auth_header() returns Bearer "" and auth tests fail with misleading errors. Maybe add a check after the loop?

missing = [r for r in ('admin', 'operator', 'viewer', 'configurator') if r not in cls.tokens] if missing: raise unittest.SkipTest(f'Could not acquire tokens for: {", ".join(missing)}')

Fixed in b12dbc4 - added a check after the token acquisition loop.

…ility - Fix faultCode->fault_code bug that caused 6 fault tests to silently skip - Remove skip_on_timeout parameter from poll_endpoint/poll_endpoint_until; tests now fail on timeout instead of skipping - Replace silent if-status_code-200 guards with poll_endpoint_until and get_json assertions in hybrid/manifest discovery tests - Replace bare time.sleep with polling in manifest discovery test - Align _wait_for_discovery timeout to raise SkipTest (like health check) - Use time.monotonic instead of time.time in subscriptions test - Add addCleanup for subscription and config cleanup on assertion failure - Validate auth token acquisition, skip with clear message if tokens missing - Replace hardcoded version assert with semver regex - Remove unused PORT class attribute and DEFAULT_PORT import - Add missing launch_testing, launch_ros, ament_index_python test_depend - Fix stale demo_nodes.launch.py references to integration_tests package

Tests must fail, not skip. No hidden bugs. - gateway_test_case: _wait_for_gateway_health and _wait_for_discovery now raise AssertionError instead of SkipTest on timeout - auth test: missing tokens raise AssertionError instead of SkipTest - 21 self.skipTest() calls across 9 test files replaced with self.fail() (subscriptions, bulk_data_download, fault_inspection, entity_routing, operations_api, action_lifecycle, discovery_manifest, config_management, data_read, data_publish_verify)

The previous commit replaced skipTest() with fail(), exposing tests that never actually validated anything. This fixes the root causes: - fault_inspection test_02: fix assertions to match actual C++ status fields (aggregatedStatus, confirmedDTC, pendingDTC as strings) - fault_inspection test_04/05: add wait_for_fault_detail() shared helper that polls until async snapshots are captured; configure snapshots.default_topics for freeze_frame capture; set confirmation_threshold=-2 so rosbag ring buffer has time to collect data before first fault confirmation - data_read test_list_function_data: remove from runtime-mode test (functions require manifest; already covered in manifest test_23) - discovery_manifest test_18: accept empty data items in manifest_only mode (runtime graph discovery disabled, no topic enrichment) - discovery_manifest test_25: remove test for nonexistent /discovery/stats endpoint

- Add addCleanup to subscription test_12 and config test_delete to prevent resource leaks on assertion failures - Remove unused PORT docstring from GatewayTestCase - Fix wait_for_fault_detail to check all faults for required snapshot types (rosbag buffer is shared, only one fault gets the data when multiple confirm simultaneously) - Stabilize fault_lifecycle test with short rosbag durations (0.1s) and confirmation_threshold=-2 so captures complete before shutdown

bburda · 2026-02-21T19:08:50Z

All review comments addressed in commits e0e39e0 and f554a46. Stale demo_nodes.launch.py references were already fixed in b12dbc4. Full clean build + test suite: 2108 tests, 0 errors, 0 failures.

mfaferek93

A few more findings

mfaferek93 · 2026-02-21T19:54:11Z

src/ros2_medkit_integration_tests/CMakeLists.txt

+
+# === Python test utilities ===
+
+ament_python_install_package(ros2_medkit_test_utils)


Blocker: ament_python_install_package(ros2_medkit_test_utils) is called but there is no find_package(ament_cmake_python REQUIRED) (lines 11-19). Also missing <buildtool_depend>ament_cmake_python</buildtool_depend> in package.xml. Build will fail at cmake configure with "Unknown CMake command".

mfaferek93 · 2026-02-21T19:54:11Z

src/ros2_medkit_integration_tests/test/features/test_data_read.test.py

+        items = data['items']
+        self.assertIsInstance(items, list)
+
+        if len(items) > 0:


Major: Five if len(items) > 0: guards (lines 68, 90, 109, 128, 439) silently skip all structural assertions when items is empty. Tests pass with zero assertions. Use self.assertGreater(len(items), 0) before the loop or poll_endpoint_until with a non-empty condition.

mfaferek93 · 2026-02-21T19:54:11Z

src/ros2_medkit_integration_tests/test/features/test_operations_api.test.py

+
+        # Should return 200 for sync or 400/500 if service is unavailable
+        self.assertIn(
+            response.status_code, [200, 400, 500, 503],


Major: Accepts [200, 400, 500, 503]. HTTP 500 is a server bug, not a valid outcome. Remove 500 from the list.

mfaferek93 · 2026-02-21T19:54:11Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_action_lifecycle.test.py

+
+        # Should return 200 for sync or 400/500/503 if service unavailable
+        self.assertIn(
+            response.status_code, [200, 400, 500, 503],


Major: Same issue: accepts [200, 400, 500, 503]. Remove 500.

mfaferek93 · 2026-02-21T19:54:11Z

src/ros2_medkit_integration_tests/test/features/test_configuration_api.test.py

+        self.assertEqual(get_response.status_code, 200)
+        get_data = get_response.json()
+        # The value should be reset to default (85.0)
+        _ = get_data['x-medkit']['parameter']['value']


Major: _ = get_data['x-medkit']['parameter']['value'] discards the reset value without asserting it. The comment says "should be reset to default (85.0)" but nothing verifies this. Replace with self.assertEqual(...).

mfaferek93 · 2026-02-21T19:54:12Z

src/ros2_medkit_integration_tests/test/features/test_sse.test.py

+    MIN_EXPECTED_APPS = 1
+    REQUIRED_APPS = {'temp_sensor'}
+
+    def test_sse_stream_endpoint_returns_correct_headers(self):


Minor: If ReadTimeout fires before headers arrive, the except clause passes the test with zero header assertions.

mfaferek93 · 2026-02-21T19:54:12Z

src/ros2_medkit_integration_tests/test/scenarios/test_scenario_subscriptions.test.py

        sub = self._create_subscription(interval='slow', duration=30)
-        events_url = f'http://localhost:8080{sub["event_source"]}'
+        self.addCleanup(self._delete_subscription, sub['id'])
+        events_url = f'http://localhost:{DEFAULT_PORT}{sub["event_source"]}'


Minor: SSE URLs hardcode http://localhost:{DEFAULT_PORT} (also at lines 334, 382). If port is overridden (as in auth/rate-limit tests), these point to the wrong server. Derive from self.BASE_URL.

mfaferek93 · 2026-02-21T19:54:12Z

src/ros2_medkit_integration_tests/test/features/test_configuration_api.test.py

+        self.addCleanup(
+            lambda: requests.put(
+                f'{self.BASE_URL}/apps/temp_sensor/configurations/min_temp',
+                json={'data': 85.0},


Minor: Cleanup resets min_temp via PUT to hardcoded 85.0. If default changes, cleanup silently sets the wrong value. Use DELETE instead (like the cleanup at line 171).

mfaferek93 · 2026-02-21T19:54:12Z

src/ros2_medkit_integration_tests/test/features/test_entity_routing.test.py

+
+        @verifies REQ_INTEROP_003
+        """
+        app_id = self._find_app_only_id()


Minor: _find_app_only_id() called 4 times (lines 85, 116, 133, 150), making 8 identical HTTP requests. Cache the result in setUpClass.

mfaferek93 · 2026-02-21T19:54:12Z

src/ros2_medkit_integration_tests/ros2_medkit_test_utils/gateway_test_case.py

+            time.sleep(1)
+        return None
+
+    def create_execution(self, entity_endpoint, operation_id, *, input_data=None):


Minor: create_execution calls response.json() without checking status code. Non-JSON error response will raise unhelpful JSONDecodeError.

bburda self-assigned this Feb 19, 2026

Copilot AI review requested due to automatic review settings February 19, 2026 16:43

Copilot started reviewing on behalf of bburda February 19, 2026 16:44 View session

Copilot AI reviewed Feb 19, 2026

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bburda requested a review from mfaferek93 February 19, 2026 16:48

bburda changed the title ~~Feat/improve integration tests~~ Refactor the gateway integration test suite into a dedicated ros2_medkit_integration_tests package Feb 19, 2026

bburda marked this pull request as draft February 19, 2026 17:10

bburda force-pushed the feat/improve-integration-tests branch from ae470cf to 8050710 Compare February 19, 2026 21:16

bburda marked this pull request as ready for review February 19, 2026 22:26

bburda force-pushed the feat/improve-integration-tests branch from 8050710 to 86cd8f4 Compare February 20, 2026 08:56

bburda added 17 commits February 20, 2026 13:46

feat: add ros2_medkit_integration_tests package skeleton

adb4e60

New ament_cmake package for integration tests and demo nodes. Includes CMakeLists.txt with file-glob test discovery and integration;feature / integration;scenario CMake labels. Refs #139, #222

feat: move demo nodes and launch file to integration test package

3210366

9 demo C++ executables and demo_nodes.launch.py moved from ros2_medkit_gateway. Package references updated to ros2_medkit_integration_tests. Refs #139, #222

feat: add test_health feature test — validates new package E2E

482a42e

First integration test in the new package. Verifies gateway health, root, version, and docs endpoints. Confirms test_utils library, demo node launching, and coverage collection all work. Refs #139, #222

feat: migrate bulk data upload and subscriptions scenario tests

744085a

Migrated from gateway package with scenario-style structure. Using shared test_utils for launch helpers and base test case. Refs #139

refactor: remove integration tests and demo nodes from gateway

3c60bff

Integration tests and demo nodes moved to ros2_medkit_integration_tests package. Gateway retains only production code and GTest unit tests. Refs #139, #222

feat: migrate rate limiting integration test to integration tests pac…

88e0dab

…kage

chore: remove stale "Migrated from" comments from integration tests

f0d0c3f

bburda force-pushed the feat/improve-integration-tests branch from 86cd8f4 to f0d0c3f Compare February 20, 2026 14:42

mfaferek93 reviewed Feb 20, 2026

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bburda added 3 commits February 20, 2026 20:09

bburda marked this pull request as draft February 21, 2026 12:47

bburda marked this pull request as ready for review February 21, 2026 19:12

mfaferek93 reviewed Feb 21, 2026

View reviewed changes

		@@ -223,16 +181,15 @@ def test_01_create_subscription_returns_201_with_correct_schema(self):
		self._delete_subscription(sub['id'])


		# === Python test utilities ===

		ament_python_install_package(ros2_medkit_test_utils)

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bburda commented Feb 19, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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mfaferek93 Feb 20, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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mfaferek93 Feb 20, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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mfaferek93 commented Feb 20, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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bburda commented Feb 21, 2026

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bburda commented Feb 19, 2026 •

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mfaferek93 Feb 20, 2026 •

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mfaferek93 Feb 20, 2026 •

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mfaferek93 commented Feb 20, 2026 •

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