add catch2 to roverflake (#81)

Roozki · web-flow · commit 2eecd1ae70f4 · 2025-11-23T22:56:06.000-08:00
diff --git a/.github/workflows/install_and_build.yaml b/.github/workflows/install_and_build.yaml
diff --git a/.github/workflows/unit_tests.yaml b/.github/workflows/unit_tests.yaml
@@ -0,0 +1,31 @@
+name: Run unit tests
+on: push
+jobs:
+  unit_tests:
+    runs-on: ubuntu-22.04
+    steps:
+     - uses: actions/checkout@v4
+       with: # added this, might fix a bug that's taken over 3 hours to find
+          submodules: recursive
+     - name: build
+       run: |
+         make test  
+     - name: Notify Discord (success)
+       if: ${{ success() }}
+       uses: appleboy/discord-action@v1.0.0
+       with:
+        webhook_id: ${{ secrets.DISCORD_BOT_WEBHOOK_ID }} # it also accepts full URL
+        webhook_token: ${{ secrets.DISCORD_BOT_WEBHOOK_TOKEN }} # it also accepts full URL
+        message: |
+              *Unit tests has passed for ${{ github.actor }}.* || ${{ github.repository }} on `${{ github.ref_name }}`
+              ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+     - name: Notify Discord (failure)
+       if: ${{ failure() }}
+       uses: appleboy/discord-action@v1.0.0
+       with:
+        webhook_id: ${{ secrets.DISCORD_BOT_WEBHOOK_ID }} # it also accepts full URL
+        webhook_token: ${{ secrets.DISCORD_BOT_WEBHOOK_TOKEN }} # it also accepts full URL
+        message: |
+              _Unit tests have failed ${{ github.actor }}_
+              ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+  
diff --git a/.gitmodules b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "src/external_pkgs/moteus_ros2"]
 	path = src/external_pkgs/moteus_ros2
 	url = https://github.com/mjbots/moteus_ros2
+[submodule "src/external_pkgs/Catch2"]
+	path = src/external_pkgs/Catch2
+	url = https://github.com/catchorg/Catch2.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,52 @@
+# CMake file for roverflake unit tests
+cmake_minimum_required(VERSION 3.20)
+
+set(CMAKE_CXX_STANDARD 17) # cpp 2017 standard
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/src/external_pkgs/Catch2 ${CMAKE_CURRENT_BINARY_DIR}/external_pkgs/Catch2) # Include Catch2 for unit tests
+
+set(BUILD_DIR ${CMAKE_CURRENT_LIST_DIR}/build)
+set(SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/src)
+set(SAMPLE_PKG_DIR ${SRC_DIR}/rover_samples/rv_sample_package/)
+set(ROVER_UTILS_DIR ${SRC_DIR}/rover_utils/)
+
+# Code under test sources + directories
+include_directories(
+    ${SAMPLE_PKG_DIR}/include
+    ${ROVER_UTILS_DIR}/include
+
+    # add more directories with needed .h headers
+    )
+
+set(ROVERFLAKE_SOURCES  
+    ${SAMPLE_PKG_DIR}/src/unit_test_example_class.cpp # just an example
+    # Add roverflake files here (code under test)
+
+    # Autogenerated files:
+    # ${BUILD_DIR}/autogen/*.cpp
+    # ${BUILD_DIR}/autogen/*.c
+)
+
+set(TEST_SOURCES
+    ${SRC_DIR}/rover_samples/rv_sample_package/test/unit_test_example.cpp
+    # add more unit test files 
+    )
+
+add_executable(unit_tests
+    ${TEST_SOURCES}
+    ${ROVERFLAKE_SOURCES}
+    )
+
+target_link_libraries(unit_tests PRIVATE
+    Catch2::Catch2WithMain)
+
+target_compile_options(unit_tests PRIVATE 
+    -Wall
+    -Wextra
+    # -Werror # Uncomment to be verry strict
+)
+
+include(CTest)
+include(Catch)
+catch_discover_tests(unit_tests)
diff --git a/Makefile b/Makefile
@@ -0,0 +1,21 @@
+# Makefile for common libraries
+
+BUILD_DIR:=build
+
+all: clean configure build test
+
+configure:
+	@mkdir -p $(BUILD_DIR)
+	@cd $(BUILD_DIR) && cmake ..
+
+build: configure 
+	@$(MAKE) -C $(BUILD_DIR)
+
+clean:
+	@rm -rf $(BUILD_DIR)
+
+test: configure build
+	@${BUILD_DIR}/unit_tests
+
+
+.PHONY: all configure build clean test
diff --git a/README.md b/README.md
@@ -39,6 +39,13 @@ From the root of RoverFlake2:
 
 If you get an error... panic, scream, and hurl insults at your computer. Then look at common issues and ask for help in the discord. 
 
+### Unit Tests
+We use Catch2 for CPP unit tests. To keep it simple, we don't integrate with colcon tests, we have a seperate CMakeLists.txt and Makefile at the root, to handle all unit tests.
+To build and run tests: (the -j16 is just to compile faster by specifying how many cores to use)
+> `make -j16 test` 
+To add tests, open up the CMakeLists.txt and manually add paths to test files. Follow the comments within the file.
+Catch2 is powerful, lightweight, and easy to use. It has a lot of built in macros to help with testing but even just the basics is enough to get by.
+
 ### COMMON ISSUES & TROUBLESHOOTING
 arm_hardware_interface fails to build:
  
diff --git a/setup_scripts/setup_everything_common.sh b/setup_scripts/setup_everything_common.sh
@@ -48,8 +48,6 @@ apt_packages_to_install=(
     "libsfml-dev"
 )
 
-
-
 # Loop through the package list and install missing packages
 for package in "${apt_packages_to_install[@]}"; do
     if is_package_installed "$package"; then
diff --git a/src/external_pkgs/Catch2 b/src/external_pkgs/Catch2
@@ -0,0 +1 @@
+Subproject commit a1faad9315ece8e7146e9d2263ceb3d42ea0619a
diff --git a/src/rover_samples/rv_sample_package/CMakeLists.txt b/src/rover_samples/rv_sample_package/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.10)
 project(rv_sample_package)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -11,6 +11,9 @@ find_package(rclcpp REQUIRED)
 find_package(joy REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rover_utils REQUIRED)
+
+
+
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
@@ -20,6 +23,26 @@ include_directories(include/)
 add_executable(sample_node src/sample_node.cpp include/sample_node.h include/sample_node_defines.h)
 ament_target_dependencies(sample_node rclcpp joy rover_utils)
 
+# add_executable(test_example test/unit_test_example.cpp) # add a test, its just another executable
+# target_link_libraries(test_example PRIVATE Catch2::Catch2WithMain)
+# ament_add_catch2(test_example test/unit_test_example.cpp)
+
+# if(BUILD_TESTING)
+#   include(CTest)
+
+#   ###############
+#   ## UNIT TEST ##
+#   ###############
+#   add_executable(example_unit_test
+#     test/unit_test_example.cpp
+#   )
+#   # Linking a unit test executable with catch_ros2::catch_ros2_with_main
+#   # provides the default Catch2 main function to the executable.
+#   target_link_libraries(example_unit_test
+#     catch_ros2::catch_ros2_with_main
+#   )
+#   add_test(NAME ExampleUnitTest COMMAND example_unit_test)
+# endif()
 
 
 install(
@@ -34,4 +57,6 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
+# find_package(ament_lint_auto REQUIRED)
+# ament_lint_auto_find_test_dependencies()
 ament_package()
diff --git a/src/rover_samples/rv_sample_package/include/sample_node.h b/src/rover_samples/rv_sample_package/include/sample_node.h
@@ -29,14 +29,14 @@ class SampleNode : public rclcpp::Node {
     SampleNode(); // Constructor is defined in .cpp.
 
 private:
-    // Most member structures and functions are private in a custom ros2 node. 
+    // Most member structures and functions are private in a custom ros2 node. - However, for ease of testing, 
+    // you can make some functions public... or just everything public - goes against best practices but were a student team, not a company past series C
 
     // Data types and structs go first
     int current_gear = 0;
     int prev_paddleR = 0;
     int prev_paddleL = 0;
 
-
     // SUBS AND PUBS
     rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr cmd_vel_pub;
 
diff --git a/src/rover_samples/rv_sample_package/include/unit_test_example_class.h b/src/rover_samples/rv_sample_package/include/unit_test_example_class.h
@@ -0,0 +1,32 @@
+#pragma once
+#define MAX_ZAZA_LEVEL 10
+
+enum class CatSobreityLevel : int{
+    SOBER = 0,
+    FEELING_IT = 1,
+    HIGH = 3,
+    REALLY_HIGH = 6,
+    ABSOLUTLEY_ZOOTED = 9,
+    ERROR
+};
+// Keep in reverse order
+constexpr CatSobreityLevel ALL_VALID_SOBREITY_LEVELS[] = {
+    CatSobreityLevel::SOBER,
+    CatSobreityLevel::FEELING_IT,
+    CatSobreityLevel::HIGH,
+    CatSobreityLevel::REALLY_HIGH,
+    CatSobreityLevel::ABSOLUTLEY_ZOOTED
+};
+
+class Cat {
+public:
+    Cat() {};
+    void give_catnip(int catnip_kg = 1);
+
+    CatSobreityLevel get_status() const;
+    int get_zaza_level() const;
+private:
+
+    int zaza_level = 0; 
+};
+
diff --git a/src/rover_samples/rv_sample_package/src/unit_test_example_class.cpp b/src/rover_samples/rv_sample_package/src/unit_test_example_class.cpp
@@ -0,0 +1,33 @@
+#include <unit_test_example_class.h>
+
+void Cat::give_catnip(int catnip_kg)
+{
+    this->zaza_level += catnip_kg;
+    if(this->zaza_level > MAX_ZAZA_LEVEL)
+    {
+        this->zaza_level = MAX_ZAZA_LEVEL;
+    }
+}
+
+CatSobreityLevel Cat::get_status() const
+{
+    if(this->zaza_level < 0) return CatSobreityLevel::ERROR; // Check if zaza level is valid
+    CatSobreityLevel ret = CatSobreityLevel::SOBER;
+    for(auto lvl : ALL_VALID_SOBREITY_LEVELS)
+    {
+        if (this->zaza_level >= static_cast<int>(lvl))
+        {
+            ret = lvl;
+        } 
+        else
+        {
+            break;
+        } 
+    }
+    return ret;
+}
+
+int Cat::get_zaza_level() const
+{
+    return this->zaza_level;
+}
diff --git a/src/rover_samples/rv_sample_package/test/unit_test_example.cpp b/src/rover_samples/rv_sample_package/test/unit_test_example.cpp
@@ -0,0 +1,48 @@
+#define CATCH_CONFIG_MAIN
+#include <catch2/catch_all.hpp>
+#include <unit_test_example_class.h>
+
+// Example of a unit test, not ROS specific, but part of a ROS package
+// Don't ask about why this class was chosen for the example
+
+TEST_CASE("sample_test_case")
+{
+    // Setup for every SECTION
+    // This code runs fresh before every section
+    Cat cat;
+    SECTION("Test cat init/construction")
+    {
+        REQUIRE(cat.get_zaza_level() == 0);
+        REQUIRE(cat.get_status() == CatSobreityLevel::SOBER);
+    }
+
+    SECTION("Test getting cat high")
+    {
+        cat.give_catnip();
+        REQUIRE(cat.get_zaza_level() == 1);
+        REQUIRE(cat.get_status() == CatSobreityLevel::FEELING_IT);
+
+        cat.give_catnip(2);
+        REQUIRE(cat.get_zaza_level() == 3);
+        REQUIRE(cat.get_status() == CatSobreityLevel::HIGH);
+
+        cat.give_catnip(3);
+        REQUIRE(cat.get_zaza_level() == 6);
+        REQUIRE(cat.get_status() == CatSobreityLevel::REALLY_HIGH);
+
+        cat.give_catnip(99);
+        REQUIRE(cat.get_status() == CatSobreityLevel::ABSOLUTLEY_ZOOTED);
+    }
+
+    SECTION("Test max zaza")
+    {
+        cat.give_catnip(99999);
+        REQUIRE(cat.get_zaza_level() == MAX_ZAZA_LEVEL);
+    }
+
+    SECTION("Test negative catnip")
+    {
+        cat.give_catnip(-10);
+        REQUIRE(cat.get_status() == CatSobreityLevel::ERROR);
+    }
+}

Original file line number	Diff line number	Diff line change
`@@ -48,8 +48,6 @@ apt_packages_to_install=(`
`48`	`48`	`"libsfml-dev"`
`49`	`49`	`)`
`50`	`50`
`51`		`-`
`52`		`-`
`53`	`51`	`# Loop through the package list and install missing packages`
`54`	`52`	`for package in "${apt_packages_to_install[@]}"; do`
`55`	`53`	`if is_package_installed "$package"; then`