Add test cases for composition API.

Signed-off-by: Zhen Ju <[email protected]>

rclpy_components/rclpy_components/component_manager.py

@@ -21,8 +21,6 @@
 except ImportError:
     from importlib_metadata import entry_points
 
-RCLPY_COMPONENTS = 'rclpy_components'
-
 
 class ComponentManager(Node):
 
@@ -52,7 +50,7 @@ def on_list_node(self, req: ListNodes.Request, res: ListNodes.Response):
         return res
 
     def on_load_node(self, req: LoadNode.Request, res: LoadNode.Response):
-        component_entry_points = entry_points().get(RCLPY_COMPONENTS, None)
+        component_entry_points = entry_points().get('rclpy_components', None)
         if not component_entry_points:
             res.success = False
             res.error_message = 'No rclpy components registered'

rclpy_components/rclpy_components_test/__init__.py

@@ -0,0 +1,20 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# 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 rclpy.node import Node
+
+
+class TestFoo(Node):
+    def __init__(self, node_name='test_foo', **kwargs):
+        super().__init__(node_name, **kwargs)

rclpy_components/setup.py

@@ -1,15 +1,17 @@
-from setuptools import setup
+from setuptools import setup, find_packages
 
 package_name = 'rclpy_components'
 
 setup(
     name=package_name,
     version='1.1.0',
-    packages=[package_name],
+    packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        ('share/ament_index/resource_index/packages',
+         ['resource/' + 'test_composition'])
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -23,5 +25,8 @@
             'component_container = rclpy_components.component_container:main',
             'component_container_mt = rclpy_components.component_container_mt:main',
         ],
+        'rclpy_components': [
+            'test_composition::TestFoo = rclpy_components_test:TestFoo',
+        ]
     },
 )

rclpy_components/test/test_component_manager.py

@@ -0,0 +1,197 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# 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 unittest
+import rclpy
+from multiprocessing import Process
+from rclpy.client import Client
+from rclpy.executors import SingleThreadedExecutor, MultiThreadedExecutor
+from rclpy.node import Node
+from composition_interfaces.srv import ListNodes, LoadNode, UnloadNode
+from rclpy_components.component_manager import ComponentManager
+
+TEST_COMPOSITION = 'test_composition'
+TEST_COMPOSITION_FOO = 'test_composition::TestFoo'
+TEST_COMPOSITION_NODE_NAME = '/testfoo'
+
+
+def run_container(container_name, multi_thread):
+    rclpy.init()
+    if multi_thread:
+        executor = MultiThreadedExecutor()
+    else:
+        executor = SingleThreadedExecutor()
+
+    component_manager = ComponentManager(executor, container_name)
+    executor.add_node(component_manager)
+    try:
+        executor.spin()
+    except Exception as e:
+        print(e)
+        pass
+
+    component_manager.destroy_node()
+    rclpy.shutdown()
+
+
+class TestComponentManager(unittest.TestCase):
+    helper_node: Node = None
+    container_process: Process = None
+
+    container_name = 'TestComponentManager'
+    # service names & clients will be generated with container_name
+    load_node_svc_name = ""
+    unload_node_svc_name = ""
+    list_node_svc_name = ""
+    load_cli: Client = None
+    unload_cli: Client = None
+    list_cli: Client = None
+
+    use_multi_threaded_executor = False
+
+    @classmethod
+    def setUpClass(cls):
+        cls.load_node_svc_name = f'{cls.container_name}/_container/load_node'
+        cls.unload_node_svc_name = f'{cls.container_name}/_container/unload_node'
+        cls.list_node_svc_name = f'{cls.container_name}/_container/list_nodes'
+
+        # Start the test component manager in the background
+        cls.container_process = Process(target=run_container,
+                                        args=(cls.container_name, cls.use_multi_threaded_executor))
+        cls.container_process.start()
+
+        # Setup the helper_node, which will help create client and test the services
+        rclpy.init()
+        cls.helper_node = rclpy.create_node('helper_node')
+        cls.load_cli = cls.helper_node.create_client(LoadNode, cls.load_node_svc_name)
+        cls.unload_cli = cls.helper_node.create_client(UnloadNode, cls.unload_node_svc_name)
+        cls.list_cli = cls.helper_node.create_client(ListNodes, cls.list_node_svc_name)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.container_process.terminate()
+        cls.load_cli.destroy()
+        cls.unload_cli.destroy()
+        cls.list_cli.destroy()
+        cls.helper_node.destroy_node()
+        rclpy.shutdown()
+
+    @classmethod
+    def load_node(cls, package_name, plugin_name, node_name="", node_namespace=""):
+        if not cls.load_cli.wait_for_service(timeout_sec=5.0):
+            raise RuntimeError(f'No load service found in /{cls.container_name}')
+
+        load_req = LoadNode.Request()
+        load_req.package_name = package_name
+        load_req.plugin_name = plugin_name
+
+        if node_name != "":
+            load_req.node_name = node_name
+        if node_namespace != "":
+            load_req.node_namespace = node_namespace
+
+        future = cls.load_cli.call_async(load_req)
+        rclpy.spin_until_future_complete(cls.helper_node, future)
+        return future.result()
+
+    @classmethod
+    def unload_node(cls, unique_id):
+        if not cls.unload_cli.wait_for_service(timeout_sec=5.0):
+            raise RuntimeError(f'No unload service found in /{cls.container_name}')
+
+        unload_req = UnloadNode.Request()
+        unload_req.unique_id = unique_id
+
+        future = cls.unload_cli.call_async(unload_req)
+        rclpy.spin_until_future_complete(cls.helper_node, future)
+        return future.result()
+
+    @classmethod
+    def list_nodes(cls):
+        if not cls.list_cli.wait_for_service(timeout_sec=5.0):
+            raise RuntimeError(f'No list service found in {cls.container_name}')
+        list_req = ListNodes.Request()
+        future = cls.list_cli.call_async(list_req)
+        rclpy.spin_until_future_complete(cls.helper_node, future)
+        return future.result()
+
+    def load_node_test(self):
+        load_res = self.__class__.load_node(TEST_COMPOSITION, TEST_COMPOSITION_FOO)
+        assert load_res.success is True
+        assert load_res.error_message == ""
+        assert load_res.unique_id == 1
+        assert load_res.full_node_name == TEST_COMPOSITION_NODE_NAME
+
+        node_name = "renamed_node"
+        node_ns = 'testing_ns'
+        remap_load_res = self.__class__.load_node(
+            TEST_COMPOSITION, TEST_COMPOSITION_FOO, node_name=node_name,
+            node_namespace=node_ns)
+        assert remap_load_res.success is True
+        assert remap_load_res.error_message == ""
+        assert remap_load_res.unique_id == 2
+        assert remap_load_res.full_node_name == f'/{node_ns}/{node_name}'
+
+        list_res: ListNodes.Response = self.__class__.list_nodes()
+        assert len(list_res.unique_ids) == len(list_res.full_node_names) == 2
+
+    def unload_node_test(self):
+        if not self.__class__.unload_cli.wait_for_service(timeout_sec=5.0):
+            raise RuntimeError(f'no unload service found in {self.__class__.container_name}')
+
+        unload_res: UnloadNode.Response = self.__class__.unload_node(1)
+        assert unload_res.success is True
+        assert unload_res.error_message == ""
+
+        # Should be only 1 node left
+        list_res: ListNodes.Response = self.__class__.list_nodes()
+        assert len(list_res.full_node_names) == len(list_res.unique_ids) == 1
+
+        # The index definitely won't exist
+        unload_res: UnloadNode.Response = self.__class__.unload_node(1000)
+        assert unload_res.error_message != ""
+        assert unload_res.success is False
+        list_res: ListNodes.Response = self.__class__.list_nodes()
+        assert len(list_res.full_node_names) == len(list_res.unique_ids) == 1
+
+        # Unload the last node
+        unload_req = UnloadNode.Request()
+        unload_req.unique_id = 2
+        future = self.__class__.unload_cli.call_async(unload_req)
+        rclpy.spin_until_future_complete(self.__class__.helper_node, future)
+        unload_res: UnloadNode.Response = future.result()
+        assert unload_res.success is True
+        assert unload_res.error_message == ""
+
+        # Won't be any node in the container
+        list_res: ListNodes.Response = self.__class__.list_nodes()
+        assert len(list_res.full_node_names) == len(list_res.unique_ids) == 0
+
+    def list_nodes_test(self):
+        container_name = self.__class__.container_name
+        print(f'{container_name}: list_nodes tested within test_load_node and test_unload_node')
+
+    def test_composition_api(self):
+        self.load_node_test()
+        self.unload_node_test()
+        self.list_nodes_test()
+
+
+class TestComponentManagerMT(TestComponentManager):
+    use_multi_threaded_executor = True
+    container_name = 'TestComponentManagerMT'
+
+
+if __name__ == '__main__':
+    unittest.main()

rclpy_components/test/test_component_manager_ut.py

@@ -0,0 +1,110 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# 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 unittest
+import rclpy
+from composition_interfaces.srv import ListNodes, LoadNode, UnloadNode
+from rclpy.executors import Executor, SingleThreadedExecutor, MultiThreadedExecutor
+from rclpy_components.component_manager import ComponentManager
+
+TEST_COMPOSITION = 'test_composition'
+TEST_COMPOSITION_FOO = 'test_composition::TestFoo'
+
+
+class TestComponentManagerUT(unittest.TestCase):
+    executor: Executor
+    component_manager: ComponentManager
+    use_multi_threaded_executor: bool = False
+    container_name: str = "ut_container"
+
+    @classmethod
+    def setUpClass(cls) -> None:
+        rclpy.init()
+
+        if cls.use_multi_threaded_executor:
+            cls.executor = MultiThreadedExecutor()
+        else:
+            cls.executor = SingleThreadedExecutor()
+
+        cls.executor = SingleThreadedExecutor()
+        cls.component_manager = ComponentManager(cls.executor, cls.container_name)
+        cls.executor.add_node(cls.component_manager)
+
+    @classmethod
+    def tearDownClass(cls) -> None:
+        cls.executor.remove_node(cls.component_manager)
+        cls.executor.shutdown()
+        rclpy.shutdown()
+
+    def list_nodes(self):
+        res = ListNodes.Response()
+        req = ListNodes.Request()
+        self.__class__.component_manager.on_list_node(req, res)
+
+        return res.unique_ids, res.full_node_names
+
+    def test_gen_unique_id(self):
+        current_index = self.component_manager.gen_unique_id()
+        assert current_index == 1  # The unique id start from 1
+
+    def test_list_node(self):
+        unique_ids, full_node_names = self.list_nodes()
+        assert len(full_node_names) == 0
+        assert len(unique_ids) == 0
+
+    def test_load_node(self):
+        mock_res = LoadNode.Response()
+        mock_req = LoadNode.Request()
+        mock_req.package_name = TEST_COMPOSITION
+        mock_req.plugin_name = TEST_COMPOSITION_FOO
+        self.component_manager.on_load_node(mock_req, mock_res)
+
+        print(mock_res.success, mock_res.error_message)
+
+        unique_ids, full_node_names = self.list_nodes()
+        assert len(unique_ids) == 1
+        assert len(full_node_names) == 1
+
+    def test_unload_node(self):
+        mock_res = UnloadNode.Response()
+        mock_req = UnloadNode.Request()
+
+        # Unload a non-existing node
+        mock_req.unique_id = 0
+        self.component_manager.on_unload_node(mock_req, mock_res)
+        assert mock_res.error_message
+        assert (not mock_res.success)
+
+        # Unload the first node
+        ids, node_names = self.list_nodes()
+        mock_req.unique_id = ids[0]
+        # Don't forget to remove the previous test results
+        mock_res = UnloadNode.Response()
+        self.component_manager.on_unload_node(mock_req, mock_res)
+        assert mock_res.success
+        assert (not mock_res.error_message)
+
+        # There should be (n-1) nodes left
+        unique_ids, full_node_names = self.list_nodes()
+        assert len(unique_ids) == len(ids) - 1
+        assert len(full_node_names) == len(node_names) - 1
+
+
+class TestComponentManagerUTMT(TestComponentManagerUT):
+    use_multi_threaded_executor = True
+    container_name = 'ut_component_mt'
+
+
+if __name__ == '__main__':
+    unittest.main()

rclpy_components/test/test_copyright.py

@@ -1,4 +1,4 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
+# Copyright 2020 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

rclpy_components/test/test_flake8.py

@@ -1,4 +1,4 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
+# Copyright 2020 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

rclpy_components/test/test_pep257.py

@@ -1,4 +1,4 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
+# Copyright 2020 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.