Integration test ros workflow (#504)

* Local Transceiver: Fix Issue with Parsing Mailbox (#500)

* this is preliminary remember to clean up

* Local transceiver updated to correct receive format, but still need to fix hanging OK issue

* try new readrsp

* Modified readRsp to read until STATUS_OK instead of DELIMITER

* test with different value

* restore deleted website file

---------

Co-authored-by: lross03 <liamyr0802@gmail.com>

* Revert "Add ROS workflows"

* Updating the integration test workflow

* Make it temperory run the workflow during a push to the branch

* Add pull request actions

* Adding integrationn test script

* Adjusting the script path

* Add chmod permissions

* Debug script location

* Adjusting the script

* Comment out chmod command

* Add chmod command

* Adjust Script run command

* Adjust the script path

* Adjusting script path

* Remove the extra sh

* Add execute permission to the bash script

* Added permissions to the path

* Make run_integration_tests.sh executable

---------

Co-authored-by: Jing <128339540+Jng468@users.noreply.github.com>
Co-authored-by: lross03 <liamyr0802@gmail.com>

Author: 3 people

.github/workflows/integration-test.yml

@@ -1,12 +1,23 @@
+name: Integration-Tests
+
 on:
     schedule:
       - cron: '00 4 * * 0' # Runs at 8:00 am PST (4:00 am UTC) on Sunday
     workflow_dispatch:
+    pull_request:
+      branches:
+        - main
+        - develop
 
 
 jobs:
-    test_schedule:
-        runs-on: ubuntu-latest
-        steps:
-            - name: ros_integration_test
-              run: ./scripts/run_integration_tests.sh
+  ros_integration_test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout workspace
+        uses: actions/checkout@v4
+
+      - name: ROS Integration Test
+        uses: ./.github/actions/
+        with:
+          script: './scripts/run_integration_tests'

scripts/run_integration_tests.sh

@@ -10,6 +10,8 @@ if [[ $LOCAL_RUN != "true" ]]; then
     ./scripts/build.sh
     source $ROS_WORKSPACE/install/setup.bash
 fi
+ls -la
+sudo chown -R $(whoami):$(whoami) $ROS_WORKSPACE
 
 echo "Integration tests started"
 cd $ROS_WORKSPACE/src/integration_tests

src/integration_tests/testplans/example.yaml

@@ -1,5 +1,5 @@
 # Example testplan - Does not currently show HTTP I/O
-timeout_sec: 10
+timeout_sec: 3
 
 required_packages:
   - name: local_pathfinding

src/network_systems/projects/local_transceiver/inc/at_cmds.h

@@ -14,6 +14,7 @@ namespace AT
 const std::string DELIMITER = "\r\n";
 const std::string STATUS_OK = "OK";
 const std::string RSP_READY = "READY";
+const std::string GARBAGE = "\n";
 
 const std::string CHECK_CONN    = "AT";
 const std::string SBD_SESSION   = "AT+SBDIX";  // 5.144

src/network_systems/projects/local_transceiver/src/local_transceiver.cpp

@@ -274,7 +274,7 @@ custom_interfaces::msg::Path LocalTransceiver::receive()
             continue;
         }
 
-        if (!rcvRsps({message_to_queue_cmd, AT::Line("\n")})) {
+        if (!rcvRsps({message_to_queue_cmd, AT::Line("\n"), AT::Line("+SBDRB:"), AT::Line("\n")})) {
             continue;
         }
 
@@ -283,21 +283,22 @@ custom_interfaces::msg::Path LocalTransceiver::receive()
             continue;
         }
 
-        std::regex re(
-          R"(name=\"data\"; filename=\"[^\"]*\"\r?\n(?:.*\r?\n)*\r?\n([\s\S]*?)\r?\n--)", std::regex::ECMAScript);
+        std::string message_size_str;
+        std::string message;
+        std::string checksum;
+        uint16_t    message_size_int = 0;
 
-        std::smatch match;
-
-        if (std::regex_search(*buffer_data, match, re)) {
-            *buffer_data = match[1];
-            std::stringstream ss;
-            ss << *buffer_data;
-            std::cout << ss.str() << std::endl;
+        if (buffer_data && buffer_data->size() >= 2) {
+            message_size_str = buffer_data->substr(0, 2);
         } else {
-            std::cout << "No match found." << std::endl;
+            continue;
         }
 
-        receivedDataBuffer = buffer_data.value();
+        message_size_int = (static_cast<uint8_t>(message_size_str[0]) << 8) |  //NOLINT(readability-magic-numbers)
+                           static_cast<uint8_t>(message_size_str[1]);          //NOLINT(readability-magic-numbers)
+        message = buffer_data->substr(2, message_size_int);
+
+        receivedDataBuffer = message;
         break;
     }
 
@@ -367,7 +368,7 @@ std::optional<std::string> LocalTransceiver::readRsp()
     error_code     ec;
 
     // Caution: will hang if another proccess is reading from serial port
-    bio::read_until(serial_, buf, AT::DELIMITER, ec);
+    bio::read_until(serial_, buf, AT::STATUS_OK, ec);
     if (ec) {
         return std::nullopt;
     }

src/network_systems/projects/local_transceiver/test/test_local_transceiver.cpp

@@ -227,61 +227,71 @@ TEST_F(TestLocalTransceiver, parseInMsgValid)
     EXPECT_EQ(parsed_test.waypoints[1].longitude, holder);
 }
 
-// std::mutex port_mutex;
-
-// TEST_F(TestLocalTransceiver, testMailboxBlackbox)
-// {
-//     std::lock_guard<std::mutex> lock(port_mutex);  // because same port is being used
-
-//     std::string holder  = "curl -X POST -F \"test=1234\" http://localhost:8080";
-//     std::string holder2 = "printf \"at+sbdix\r\" > $LOCAL_TRANSCEIVER_TEST_PORT";
-
-//     system(holder.c_str());   //NOLINT
-//     system(holder2.c_str());  //NOLINT
-
-//     std::optional<std::string> response = lcl_trns_->readRsp();
-//     std::cout << *response << std::endl;
-// }
-
-// TEST_F(TestLocalTransceiver, parseReceiveMessageBlackbox)
-// {
-//     std::lock_guard<std::mutex> lock(port_mutex);
-
-//     constexpr float     holder = 14.3;
-//     Polaris::GlobalPath sample_data;
-
-//     Polaris::Waypoint * waypoint_a = sample_data.add_waypoints();
-//     waypoint_a->set_latitude(holder);
-//     waypoint_a->set_longitude(holder);
-//     Polaris::Waypoint * waypoint_b = sample_data.add_waypoints();
-//     waypoint_b->set_latitude(holder);
-//     waypoint_b->set_longitude(holder);
-
-//     std::string serialized_data;
-//     ASSERT_TRUE(sample_data.SerializeToString(&serialized_data));
-
-//     std::ofstream outfile("/tmp/serialized_data.bin", std::ios::binary);
-//     outfile.write(serialized_data.data(), static_cast<std::streamsize>(serialized_data.size()));
-//     outfile.close();
-
-//     std::string holder2 = "curl -X POST -F \"data=@/tmp/serialized_data.bin\" http://localhost:8080";
-//     std::system(holder2.c_str());  //NOLINT
-
-//     custom_interfaces::msg::Path received_data = lcl_trns_->receive();
-
-//     Polaris::GlobalPath global_path;
-//     for (const auto & waypoint : received_data.waypoints) {
-//         Polaris::Waypoint * new_waypoint = global_path.add_waypoints();
-//         new_waypoint->set_latitude(waypoint.latitude);
-//         new_waypoint->set_longitude(waypoint.longitude);
-//     }
-
-//     if (global_path.waypoints_size() > 0) {
-//         ASSERT_EQ(global_path.waypoints_size(), sample_data.waypoints_size())
-//           << "Mismatch in number of waypoints received.";
-//         ASSERT_EQ(global_path.waypoints(0).latitude(), holder);
-//         ASSERT_EQ(global_path.waypoints(0).longitude(), holder);
-//     } else {
-//         std::cout << "No waypoints received." << std::endl;
-//     }
-// }
+std::mutex port_mutex;
+
+TEST_F(TestLocalTransceiver, testMailboxBlackbox)
+{
+    std::lock_guard<std::mutex> lock(port_mutex);  // because same port is being used
+
+    std::string holder  = "curl -X POST -F \"test=1234\" http://localhost:8080";
+    std::string holder2 = "printf \"at+sbdix\r\" > $LOCAL_TRANSCEIVER_TEST_PORT";
+
+    system(holder.c_str());   //NOLINT
+    system(holder2.c_str());  //NOLINT
+
+    std::optional<std::string> response = lcl_trns_->readRsp();
+    std::cout << *response << std::endl;
+}
+
+TEST_F(TestLocalTransceiver, parseReceiveMessageBlackbox)
+{
+    std::lock_guard<std::mutex> lock(port_mutex);
+
+    constexpr float     holder = 10.3;
+    Polaris::GlobalPath sample_data;
+
+    Polaris::Waypoint * waypoint_a = sample_data.add_waypoints();
+    waypoint_a->set_latitude(holder);
+    waypoint_a->set_longitude(holder);
+    Polaris::Waypoint * waypoint_b = sample_data.add_waypoints();
+    waypoint_b->set_latitude(holder);
+    waypoint_b->set_longitude(holder);
+
+    std::string serialized_data;
+    ASSERT_TRUE(sample_data.SerializeToString(&serialized_data));
+
+    uint16_t message_size    = static_cast<uint16_t>(serialized_data.size());
+    uint16_t message_size_be = htons(message_size);  // Convert to big-endian
+
+    std::string size_prefix(reinterpret_cast<const char *>(&message_size_be), sizeof(message_size_be));
+
+    std::ofstream outfile("/tmp/serialized_data.bin", std::ios::binary);
+    outfile.write(size_prefix.data(), size_prefix.size());  //NOLINT
+    outfile.write(serialized_data.data(), static_cast<std::streamsize>(serialized_data.size()));
+    outfile.close();
+
+    outfile.close();  // Close the file after writing
+
+    std::string holder2 = "curl -X POST --data-binary @/tmp/serialized_data.bin http://localhost:8080";
+    std::system(holder2.c_str());  //NOLINT
+    std::string test_cmd = "hexdump -C /tmp/serialized_data.bin";
+    std::system(test_cmd.c_str());  //NOLINT
+
+    custom_interfaces::msg::Path received_data = lcl_trns_->receive();
+
+    Polaris::GlobalPath global_path;
+    for (const auto & waypoint : received_data.waypoints) {
+        Polaris::Waypoint * new_waypoint = global_path.add_waypoints();
+        new_waypoint->set_latitude(waypoint.latitude);
+        new_waypoint->set_longitude(waypoint.longitude);
+    }
+
+    if (global_path.waypoints_size() > 0) {
+        ASSERT_EQ(global_path.waypoints_size(), sample_data.waypoints_size())
+          << "Mismatch in number of waypoints received.";
+        ASSERT_EQ(global_path.waypoints(0).latitude(), holder);
+        ASSERT_EQ(global_path.waypoints(0).longitude(), holder);
+    } else {
+        std::cout << "No waypoints received." << std::endl;
+    }
+}

…/components/DropDown/DropDown.module.css …/components/DropDown/Dropdown.module.csssrc/website/views/components/DropDown/DropDown.module.css renamed to src/website/views/components/DropDown/Dropdown.module.css src/website/views/components/DropDown/DropDown.module.css renamed to src/website/views/components/DropDown/Dropdown.module.css

@@ -100,4 +100,3 @@
   position: absolute;
   right: 15px;
 }
-