Merge pull request #22 from clydemcqueen/clyde_lint_and_test

Add linters and smoke test

CMakeLists.txt

@@ -3,28 +3,28 @@ cmake_minimum_required(VERSION 3.5)
 project(gscam2)
 
 # Default to C99
-if (NOT CMAKE_C_STANDARD)
+if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
-endif ()
+endif()
 
 # Default to C++14
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
-endif ()
+endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # Emulate Colcon in CLion
-if ($ENV{CLION_IDE})
+if($ENV{CLION_IDE})
   message(STATUS "Running inside CLion")
   find_package(fastrtps_cmake_module REQUIRED)
   set(FastRTPS_INCLUDE_DIR "/opt/ros/foxy/include")
   set(FastRTPS_LIBRARY_RELEASE "/opt/ros/foxy/lib/libfastrtps.so")
   set(ros2_shared_DIR "${PROJECT_SOURCE_DIR}/../../../install/ros2_shared/share/ros2_shared/cmake")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRUN_INSIDE_CLION")
-endif ()
+endif()
 
 # Gstreamer doesn't provide CMake files
 find_package(PkgConfig)
@@ -129,6 +129,26 @@ ament_target_dependencies(
   rclcpp
 )
 
+#=============
+# Test
+#=============
+
+# Load & run linters listed in package.xml
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest)
+  ament_add_gtest(
+    smoke_test
+    test/smoke_test.cpp
+    ENV GSCAM_CONFIG="videotestsrc pattern=snow ! capsfilter caps=video/x-raw,width=800,height=600 ! videoconvert"
+  )
+  if(TARGET smoke_test)
+    target_link_libraries(smoke_test gscam_node)
+  endif()
+endif()
+
 #=============
 # Export
 # Best practice, see https://discourse.ros.org/t/ament-best-practice-for-sharing-libraries/3602

include/gscam2/gscam_node.hpp

@@ -6,20 +6,19 @@
 namespace gscam2
 {
 
-  class GSCamNode : public rclcpp::Node
-  {
-    // Hide implementation
-    class impl;
-    std::unique_ptr<impl> pImpl_;
-
-    void validate_parameters();
+class GSCamNode : public rclcpp::Node
+{
+  // Hide implementation
+  class impl;
+  std::unique_ptr<impl> pImpl_;
 
-  public:
+  void validate_parameters();
 
-    explicit GSCamNode(const rclcpp::NodeOptions &options);
+public:
+  explicit GSCamNode(const rclcpp::NodeOptions & options);
 
-    ~GSCamNode() override;
-  };
+  ~GSCamNode() override;
+};
 
 }
 

include/gscam2/subscriber_node.hpp

@@ -7,16 +7,15 @@
 namespace gscam2
 {
 
-  // Node that subscribes to a topic, used for testing composition and IPC
-  class ImageSubscriberNode : public rclcpp::Node
-  {
-    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
-
-  public:
+// Node that subscribes to a topic, used for testing composition and IPC
+class ImageSubscriberNode : public rclcpp::Node
+{
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
 
-    explicit ImageSubscriberNode(const rclcpp::NodeOptions &options);
-  };
+public:
+  explicit ImageSubscriberNode(const rclcpp::NodeOptions & options);
+};
 
 } // namespace gscam2
 
-#endif //SIMPLE_SUBSCRIBER_HPP
+#endif //SIMPLE_SUBSCRIBER_HPP

launch/composition_launch.py

@@ -11,6 +11,7 @@
 
 
 def generate_launch_description():
+    gscam_config = 'videotestsrc pattern=snow ! video/x-raw,width=1280,height=720 ! videoconvert'
 
     container = ComposableNodeContainer(
         name='my_container',
@@ -23,7 +24,7 @@ def generate_launch_description():
                 plugin='gscam2::GSCamNode',
                 name='image_publisher',
                 parameters=[{
-                    'gscam_config': 'videotestsrc pattern=snow ! video/x-raw,width=1280,height=720 ! videoconvert',
+                    'gscam_config': gscam_config,
                 }],
                 extra_arguments=[{'use_intra_process_comms': True}],
             ),
@@ -37,4 +38,4 @@ def generate_launch_description():
         output='screen',
     )
 
-    return LaunchDescription([container])
+    return LaunchDescription([container])

launch/container_param_launch.py

@@ -20,7 +20,7 @@
 print(config_dir)
 
 # Parameters file, see https://github.com/ros2/launch_ros/issues/156
-params_file = os.path.join(config_dir, "workaround_params.yaml")
+params_file = os.path.join(config_dir, 'workaround_params.yaml')
 print(params_file)
 
 # Camera calibration file

launch/node_param_launch.py

@@ -1,6 +1,4 @@
-"""
-Launch a Node with parameters and remappings.
-"""
+"""Launch a Node with parameters and remappings."""
 
 import os
 
@@ -16,7 +14,7 @@
 print(config_dir)
 
 # Parameters file
-params_file = os.path.join(config_dir, "params.yaml")
+params_file = os.path.join(config_dir, 'params.yaml')
 print(params_file)
 
 # Camera calibration file
@@ -37,7 +35,7 @@ def generate_launch_description():
             params_file,
             # A few more parameters
             {
-                'camera_name': camera_name, # Camera Name
+                'camera_name': camera_name,  # Camera Name
                 'camera_info_url': camera_config,  # Camera calibration information
             },
         ],

package.xml

@@ -22,6 +22,24 @@
 
     <buildtool_depend>ament_cmake</buildtool_depend>
 
+    <test_depend>ament_cmake_gtest</test_depend>
+    <test_depend>ament_lint_auto</test_depend>
+
+    <!-- Original gscam didn't / doesn't include copyright headers, ignore for now
+    <test_depend>ament_cmake_copyright</test_depend>
+    -->
+
+    <!-- Also checks for copyright
+    <test_depend>ament_cmake_cpplint</test_depend>
+    -->
+
+    <test_depend>ament_cmake_cppcheck</test_depend>
+    <test_depend>ament_cmake_flake8</test_depend>
+    <test_depend>ament_cmake_lint_cmake</test_depend>
+    <test_depend>ament_cmake_pep257</test_depend>
+    <test_depend>ament_cmake_uncrustify</test_depend>
+    <test_depend>ament_cmake_xmllint</test_depend>
+
     <depend>camera_calibration_parsers</depend>
     <depend>camera_info_manager</depend>
     <depend>class_loader</depend>

src/gscam_main.cpp

@@ -2,7 +2,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   // Force flush of the stdout buffer
   setvbuf(stdout, nullptr, _IONBF, BUFSIZ);
@@ -17,7 +17,8 @@ int main(int argc, char **argv)
   auto node = std::make_shared<gscam2::GSCamNode>(options);
 
   // Set logging level
-  auto result = rcutils_logging_set_logger_level(node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_INFO);
+  auto result = rcutils_logging_set_logger_level(
+    node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_INFO);
   (void) result;
 
   // Spin until rclcpp::ok() returns false