Optimize Build Task and Allow Test Task to be Package Specific

.devcontainer/base-dev/base-dev.Dockerfile

@@ -120,6 +120,9 @@ RUN apt-get update \
         build-essential \
         cmake \
         git \
+        libbson-dev \
+        libbson-1.0-0 \
+        libmongoc-1.0-0\
         libmongoc-dev \
         ninja-build \
         wget \

.devcontainer/base-dev/update-bashrc.sh

@@ -20,3 +20,8 @@ echo "    source $ROS_WORKSPACE/install/local_setup.bash" >> $HOME/.bashrc
 echo "else" >> $HOME/.bashrc
 echo "    echo -e \"\\\e[1;33mWARNING: Can't find the ROS workspace overlay: build then run 'source $ROS_WORKSPACE/install/local_setup.bash'\\\e[0m\"" >> $HOME/.bashrc
 echo "fi" >> $HOME/.bashrc
+
+echo "" >> $HOME/.bashrc
+echo "# set up links for ompl python bindings and ROS type supports" >> $HOME/.bashrc
+echo "sudo ln -sf /usr/share/libompl.so /usr/lib/libompl.so" >> $HOME/.bashrc
+echo "export LD_LIBRARY_PATH=/usr/share:/workspaces/sailbot_workspace/install/lib:$LD_LIBRARY_PATH" >> $HOME/.bashrc

sailbot.code-workspace

@@ -403,7 +403,7 @@
             },
             // Test tasks
             {
-                "label": "test",
+                "label": "Test All",
                 "detail": "Run all unit tests and show results.",
                 "type": "shell",
                 "command": "${workspaceFolder:sailbot_workspace}/scripts/test.sh",
@@ -412,6 +412,16 @@
                     "isDefault": true
                 }
             },
+            {
+                "label": "Test Package",
+                "detail": "Run unit tests for a specific package and show results.",
+                "type": "shell",
+                "command": "${workspaceFolder:sailbot_workspace}/scripts/test.sh -p ${input:package}",
+                "group": {
+                    "kind": "test",
+                    "isDefault": true
+                }
+            },
             // Clean
             {
                 "label": "clean",

scripts/build.sh

@@ -43,6 +43,11 @@ colcon build \
         --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DSTATIC_ANALYSIS=$STATIC_ANALYSIS" "-DUNIT_TEST=$UNIT_TEST" "--no-warn-unused-cli"
 
 if [[ "$PACKAGE" == "local_pathfinding" || "$PACKAGE" == "" ]]; then
-    echo "Building ompl python bindings..."
-    /workspaces/sailbot_workspace/src/local_pathfinding/src/build/py_bindings.sh
+    # check if the ompl python bindings have already been built once
+    if [ ! -f /workspaces/sailbot_workspace/install/lib/python3.10/site-packages/pyompl*.so ]; then
+        echo "Building ompl python bindings..."
+        /workspaces/sailbot_workspace/src/local_pathfinding/src/build/py_bindings.sh
+    else
+        echo "ompl python bindings already built. If you want to rebuild them run: /local_pathfinding/src/build/py_bindings.sh"
+    fi
 fi

scripts/setup.sh

@@ -22,9 +22,4 @@ if wget -q --spider --timeout=1 http://google.com; then
 fi
 rosdep install --from-paths src --ignore-src -y --rosdistro $ROS_DISTRO
 
-echo "" >> $HOME/.bashrc
-echo "# set up links  for ompl python bindings" >> $HOME/.bashrc
-echo "sudo ln -sf /usr/share/libompl.so /usr/lib/libompl.so" >> $HOME/.bashrc
-echo "export LD_LIBRARY_PATH=/usr/share:$LD_LIBRARY_PATH" >> $HOME/.bashrc
-
 source $HOME/.bashrc

scripts/test.sh

@@ -2,13 +2,40 @@
 set -e
 export LD_LIBRARY_PATH=/usr/share:$LD_LIBRARY_PATH
 echo "LD_LIBRARY_PATH: $LD_LIBRARY_PATH"
+echo "PYTHON_PATH: $PYTHONPATH"
+echo "locating pyompl shared object"
+find . -name "pyompl*.so"
+
+# Display a help message for using this script
+function helpMessage() {
+    echo -e "Test ROS package(s) in the Sailbot Workspace."
+    echo -e "Usage: ./test.sh [OPTION] ..."
+    echo -e "Example: ./test.sh -p local_pathfinding\n"
+    echo -e "Options (All Optional):"
+    echo -e "\t-p <PACKAGE_NAME>: Test a ROS package. Can only specify one package. If argument not included, all packages are tested."
+    echo -e "\t-h: Display this message."
+}
 
 function signal_handler() {
     if [ -n "$(pgrep -f virtual_iridium)" ]; then
         pkill -f virtual_iridium
     fi
 }
 
+# Package to test if selecting an individual package
+# If still empty after argument parsing, all ROS packages are tested
+PACKAGE=""
+
+# Parse command-line options (all are optional arguments)
+while getopts "hp:q" flag; do
+    case ${flag} in
+        p )     PACKAGE="${OPTARG}" ;;
+        h )     helpMessage; exit 0 ;;
+        \? )    echo "Invalid option: -${flag}"; helpMessage; exit 1 ;;
+        : )     echo "Option -${flag} requires an argument"; helpMessage; exit 1 ;;
+    esac
+done
+
 # Test failures terminate the script
 # Catch the signal so child processes can be cleaned up
 trap 'exit' INT TERM
@@ -33,6 +60,10 @@ export RCUTILS_COLORIZED_OUTPUT="1"
 
 echo "ROS_LOG_DIR is set to: $ROS_LOG_DIR"
 
-colcon test --packages-ignore virtual_iridium --merge-install --event-handlers console_cohesion+
+colcon test \
+    ${PACKAGE:+--packages-select $PACKAGE} \
+    --packages-ignore virtual_iridium \
+    --merge-install \
+    --event-handlers console_cohesion+
 colcon test-result
 exit 0