Merge branch 'main' into MoteusStuff

Author: jodhsinghnahal

.github/workflows/test.yaml .github/workflows/install_and_build.yaml.github/workflows/test.yaml renamed to .github/workflows/install_and_build.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 }}
+  

.github/workflows/unit_tests.yaml

@@ -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

.gitmodules

@@ -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)

CMakeLists.txt

@@ -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

Makefile

@@ -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:
 

README.md

@@ -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

bestHammer.pt

@@ -17,6 +17,9 @@
   <!-- Rosdep fails with the following: -->
   <!-- <depend>cv2_aruco</depend>   -->
   <!-- <depend>OpenCV</depend> -->
+  <!-- ROWTAG MERGE WARNING -->
+  <depend>OpenCV</depend>
+  <depend>cv2_aruco</depend>  
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

setup_scripts/setup_everything_common.sh

@@ -86,5 +86,4 @@ int main(int argc, char** argv) {
     rclcpp::spin(node);
     rclcpp::shutdown();
     return 0;
-    
 }