Merge pull request #142 from qiuzhong/catch-m3

Add test cases for M3 legacy features

Author: Minggang Wang

test/publisher_msg_colorrgba.js

@@ -31,7 +31,7 @@ rclnodejs.init().then(() => {
   }, 100);
 
   rclnodejs.spin(node);
-  process.on('message', (m) => {
+  process.on('SIGINT', (m) => {
     clearInterval(timer);
     node.destroy();
     rclnodejs.shutdown();

test/publisher_msg_header.js

@@ -34,7 +34,7 @@ rclnodejs.init().then(() => {
   }, 100);
 
   rclnodejs.spin(node);
-  process.on('message', (m) => {
+  process.on('SIGINT', (m) => {
     clearInterval(timer);
     node.destroy();
     rclnodejs.shutdown();

test/publisher_msg_jointstate.js

@@ -44,7 +44,7 @@ rclnodejs.init().then(() => {
   }, 100);
 
   rclnodejs.spin(node);
-  process.on('message', (m) => {
+  process.on('SIGINT', (m) => {
     clearInterval(timer);
     node.destroy();
     rclnodejs.shutdown();

test/py/client.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+# Copyright (c) 2017 Intel Corporation. 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 sys
+import rclpy
+from time import sleep
+from std_msgs.msg import String
+from example_interfaces.srv import AddTwoInts
+import signal
+
+node = None
+
+def cleanup():
+  global node
+  node.destroy_node()
+  rclpy.shutdown()
+
+def handler(signum, frame):
+  cleanup()
+  sys.exit(0)
+
+def callback(response):
+  print(response.sum)
+
+def main():
+  global node
+  signal.signal(signal.SIGINT, handler)
+
+  rclpy.init()
+  node = rclpy.create_node('add_client')
+  client = node.create_client(AddTwoInts, 'js_py_add_service')
+  request = AddTwoInts.Request()
+  request.a = 1
+  request.b = 2
+
+  client.call(request)
+  client.wait_for_future()
+  print(client.response.sum)
+
+  cleanup()
+
+if __name__ == '__main__':
+  main()

test/py/publisher_msg.py

@@ -97,6 +97,22 @@ def main():
     publisher = node.create_publisher(Float64, 'Float64_py_js_channel')
     msg = Float64()
     msg.data = 3.14
+  elif rclType == 'Array':
+    node = rclpy.create_node('py_array_publisher')
+    publisher = node.create_publisher(ByteMultiArray, 'Array_py_js_channel');
+
+    lengthDim = MultiArrayDimension()
+    lengthDim.label = 'length'
+    lengthDim.size = 1;
+    lengthDim.stride = 3;
+
+    layout = MultiArrayLayout()
+    layout.dim = [lengthDim]
+    layout.data_offset = 0;
+
+    msg = ByteMultiArray()
+    msg.layout = layout
+    msg.data = [b'\x41', b'\x42', b'\x43']
   elif rclType == 'ColorRGBA':
     node = rclpy.create_node('py_colorrgba_publisher')
     publisher = node.create_publisher(ColorRGBA, 'ColorRGBA_py_js_channel')

test/py/service.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+# Copyright (c) 2017 Intel Corporation. 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 sys
+import rclpy
+from time import sleep
+from std_msgs.msg import String
+from example_interfaces.srv import AddTwoInts
+import signal
+
+node = None
+
+def cleanup():
+  global node
+  node.destroy_node()
+  rclpy.shutdown()
+
+def handler(signum, frame):
+  cleanup()
+  sys.exit(0)
+
+def callback(request, response):
+  response.sum = request.a + request.b
+  return response
+
+def main():
+  global node
+  signal.signal(signal.SIGINT, handler)
+
+  rclpy.init()
+  node = rclpy.create_node('add_service')
+  service = node.create_service(AddTwoInts, 'py_js_add_service', callback)
+  while rclpy.ok():
+    rclpy.spin_once(node)
+
+  cleanup()
+
+if __name__ == '__main__':
+  main()

test/py/subscription_msg.py

@@ -36,6 +36,10 @@ def callback(msg):
   sys.stdout.write(str(msg.data))
   sys.stdout.flush()
 
+def callback_array(msg):
+  sys.stdout.write(''.join([r.decode('utf-8') for r in msg.data]))
+  sys.stdout.flush()
+
 def callback_colorrgba(msg):
   sys.stdout.write('(' + str(msg.r) + ',' 
                     + str(msg.g) + ',' 
@@ -109,6 +113,9 @@ def main():
   elif rclType == 'Float64':
     node = rclpy.create_node('py_float64_subscription')
     subscription = node.create_subscription(Float64, 'Float64_js_py_channel', callback)
+  elif rclType == 'Array':
+    node = rclpy.create_node('py_array_subscription')
+    subscription = node.create_subscription(ByteMultiArray, 'Array_js_py_channel', callback_array)
   elif rclType == 'ColorRGBA':
     node = rclpy.create_node('py_colorrgba_subscription')
     subscription = node.create_subscription(ColorRGBA, 'ColorRGBA_js_py_channel', callback_colorrgba)

test/test-compound-msg-type-check.js

@@ -38,23 +38,6 @@ describe('Compound types', function() {
     assert.deepStrictEqual(typeof msg.g, 'number');
     assert.deepStrictEqual(typeof msg.b, 'number');
     assert.deepStrictEqual(typeof msg.a, 'number');
-
-    // assertThrowsError(() => {
-    //   msg.r = -1;
-    //   msg.r = 256;
-    // }, TypeError, 'out of bounds', 'Invalid RGBA value');
-    // assertThrowsError(() => {
-    //   msg.g = -1;
-    //   msg.g = 256;
-    // }, TypeError, 'out of bounds', 'Invalid RGBA value');
-    // assertThrowsError(() => {
-    //   msg.b = -1;
-    //   msg.b = 256;
-    // }, TypeError, 'out of bounds', 'Invalid RGBA value');
-    // assertThrowsError(() => {
-    //   msg.a = -0.1;
-    //   msg.a = 1.1;
-    // }, TypeError, 'out of bounds', 'Invalid RGBA value');
   });
 
   it('Array', function() {

test/test-cross-lang.js

@@ -124,4 +124,59 @@ describe('Cross-language interaction', function() {
       rclnodejs.spin(node);
     });
   });
+
+  describe('Node.js client', function() {
+    it('Node.js client should work with Python service', function(done) {
+      var node = rclnodejs.createNode('js_add_client');
+      const AddTwoInts = rclnodejs.require('example_interfaces').srv.AddTwoInts;
+      var destroy = false;
+
+      var pyService = utils.launchPythonProcess([`${__dirname}/py/service.py`]);
+      var client = node.createClient(AddTwoInts, 'py_js_add_service');
+      let request = new AddTwoInts.Request();
+      request.a = 1;
+      request.b = 2;
+
+      var timer = setInterval(() => {
+        client.sendRequest(request, (response) => {
+          if (!destroy) {
+            assert.deepStrictEqual(response.sum, 3);
+            clearInterval(timer);
+            node.destroy();
+            pyService.kill('SIGINT');
+            destroy = true;
+            done();
+          }      
+        });
+      }, 100);
+
+      rclnodejs.spin(node);
+    });
+  });
+  
+  describe('Node.js service', function() {
+    it('Node.js service should work with Python client', function(done) {
+      var node = rclnodejs.createNode('js_add_service');
+      const AddTwoInts = rclnodejs.require('example_interfaces').srv.AddTwoInts;
+      var destroy = false;
+
+      var service = node.createService(AddTwoInts, 'js_py_add_service', (request, response) => {
+        assert.deepStrictEqual(typeof request.a, 'number');
+        assert.deepStrictEqual(typeof request.b, 'number');
+        response.sum = request.a + request.b;
+        return response;
+      });
+      rclnodejs.spin(node);
+
+      var pyClient = utils.launchPythonProcess([`${__dirname}/py/client.py`]);
+      pyClient.stdout.on('data', function(data) {
+        assert.deepEqual(parseInt(data, 10), 3);
+        if (!destroy) {
+          node.destroy();
+          destroy = true;
+          done();
+        }
+      });
+    });
+  });
 });

test/test-msg-type-py-node.js

@@ -294,8 +294,23 @@ describe('Rclnodejs - Python message type testing', function() {
       rclnodejs.spin(node);
     });
 
-    // it('Array', function(done) {
-    // });
+    it('Array', function(done) {
+      var node = rclnodejs.createNode('array_js_subscription');
+      const ByteMultiArray = rclnodejs.require('std_msgs').msg.ByteMultiArray;
+      var destroy = false;
+      var publisher = utils.launchPythonProcess([`${__dirname}/py/publisher_msg.py`, 'Array']);
+      var subscription = node.createSubscription(ByteMultiArray, 'Array_py_js_channel', (msg) => {
+        assert.deepStrictEqual(msg.data, [65, 66, 67]);
+
+        if (!destroy) {
+          node.destroy();
+          publisher.kill('SIGINT');
+          destroy = true;
+        }
+        done();
+      });
+      rclnodejs.spin(node);
+    });
 
     it('Header', function(done) {
       var node = rclnodejs.createNode('header_js_publisher');
@@ -733,6 +748,47 @@ describe('Rclnodejs - Python message type testing', function() {
   describe('Rclnodejs publisher - Python subscription: compound msg types', function() {
     this.timeout(60 * 1000);
 
+    it('Array', function(done) {
+      var node = rclnodejs.createNode('multiarray_js_publisher');
+      const Byte = rclnodejs.require('std_msgs').msg.Byte;
+      const MultiArrayDimension = rclnodejs.require('std_msgs').msg.MultiArrayDimension;
+      const MultiArrayLayout = rclnodejs.require('std_msgs').msg.MultiArrayLayout;
+      const ByteMultiArray = rclnodejs.require('std_msgs').msg.ByteMultiArray;
+
+      let lengthDim = new MultiArrayDimension();
+      lengthDim.label = 'length';
+      lengthDim.size = 1;
+      lengthDim.stride = 3;
+
+      let layout = new MultiArrayLayout();
+      layout.dim.fill([lengthDim]);
+      // eslint-disable-next-line
+      layout.data_offset = 0;
+
+      let byteArray = new ByteMultiArray();
+      byteArray.layout = layout;
+      byteArray.data = [65, 66, 67];
+
+      var destroy = false;
+      var subscription = utils.launchPythonProcess([`${__dirname}/py/subscription_msg.py`, 'Array']);
+      var publisher = node.createPublisher(ByteMultiArray, 'Array_js_py_channel');
+      const expected = 'ABC';
+      subscription.stdout.on('data', (data) => {
+        if (!destroy) {
+          clearInterval(timer);
+          assert.deepStrictEqual(data.toString(), expected);
+          done();
+          node.destroy();
+          subscription.kill('SIGINT');
+          destroy = true;
+        }
+      });
+      var timer = setInterval(() => {
+        publisher.publish(byteArray);
+      }, 100);
+      rclnodejs.spin(node);
+    });
+
     it('ColorRGBA', function(done) {
       var node = rclnodejs.createNode('colorrgba_js_publisher');
       const ColorRGBA = rclnodejs.require('std_msgs').msg.ColorRGBA;