Test Python code generation

Signed-off-by: "Adriano Marto Reis" <adrianomarto@gmail.com>

Author: adrianomarto

tests/test_idlc.idl

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+module Announcements
+{
+  struct Message
+  {
+    string text;
+  };
+};

tests/test_idlc.py

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+import asyncio
+import pytest
+
+
+MESSAGE_TEXT = "Hello, World!"
+
+
+@pytest.fixture
+def announcements_library():
+    '''
+    Generates the Announcements library from the test_idlc.idl file.
+    '''
+    import os
+    import shutil
+    import subprocess
+    assert 'CYCLONEDDS_HOME' in os.environ, 'CYCLONEDDS_HOME is not set'
+    idlc_path = os.path.join(os.environ['CYCLONEDDS_HOME'], 'bin', 'idlc')
+    subprocess.run([idlc_path, '-l', 'py', 'test_idlc.idl'])
+    yield
+    shutil.rmtree('Announcements')
+
+
+@pytest.mark.asyncio
+async def test_communication(announcements_library):
+    '''
+    Creates a publisher and a subscriber and checks if the subscriber receives
+    the message sent by the publisher.
+    '''
+    tasks = [
+        _subscriber(),
+        _publisher(MESSAGE_TEXT),
+    ]
+    results = await asyncio.gather(*tasks)
+    assert results[0] == MESSAGE_TEXT
+
+
+async def _publisher(message_text, timeout=2):
+    '''
+    Sends a given message text to the subscriber.
+    '''
+    from cyclonedds.domain import DomainParticipant
+    from cyclonedds.topic import Topic
+    from cyclonedds.pub import DataWriter
+    from Announcements import Message
+
+    participant = DomainParticipant(0)
+    topic = Topic(participant, "Announcements", Message)
+    writer = DataWriter(participant, topic)
+    message = Message(text=message_text)
+    writer.write(message)
+    await asyncio.sleep(timeout)
+
+
+async def _subscriber(timeout=2):
+    '''
+    Receives a message. Returns None if it times out.
+    '''
+    from cyclonedds.domain import DomainParticipant
+    from cyclonedds.topic import Topic
+    from cyclonedds.sub import DataReader
+    from Announcements import Message
+    from cyclonedds.util import duration
+
+    participant = DomainParticipant(0)
+    topic = Topic(participant, "Announcements", Message)
+    reader = DataReader(participant, topic)
+    async for update in reader.read_aiter(timeout=duration(seconds=timeout)):
+        return update.text
+    return None

tests/test_idlc_hierarchy.idl

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+module Hierarchy
+{
+  @mutable
+  struct Base
+  {
+    string fieldA;
+  };
+
+  @mutable
+  struct Derived : Base
+  {
+    string fieldB;
+  };
+};

tests/test_idlc_hierarchy.py

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+import asyncio
+import pytest
+
+
+IDL_FILE = 'test_idlc_hierarchy.idl'
+
+
+@pytest.fixture
+def hierarchy_library():
+    '''
+    Generates the Hierarchy library from the test_idlc_hierarchy.idl file.
+    '''
+    import os
+    import shutil
+    import subprocess
+    assert 'CYCLONEDDS_HOME' in os.environ, 'CYCLONEDDS_HOME is not set'
+    idlc_path = os.path.join(os.environ['CYCLONEDDS_HOME'], 'bin', 'idlc')
+    subprocess.run([idlc_path, '-l', 'py', IDL_FILE])
+    yield
+    shutil.rmtree('Hierarchy')
+
+
+@pytest.mark.asyncio
+async def test_base_topic(hierarchy_library):
+    '''
+    Creates a publisher and a subscriber of the Base topic and checks if the
+    subscriber receives the update sent by the publisher.
+    '''
+    from Hierarchy import Base
+    base = Base(fieldA="Hakuna")
+    tasks = [
+        _subscriber(Base),
+        _publisher(Base, base),
+    ]
+    results = await asyncio.gather(*tasks)
+    assert results[0] == results[1]
+
+
+@pytest.mark.asyncio
+async def test_derived_topic(hierarchy_library):
+    '''
+    Creates a publisher and a subscriber of the Derived topic and checks if the
+    subscriber receives the update sent by the publisher.
+    '''
+    from Hierarchy import Derived
+    derived = Derived(
+        fieldA="Hakuna",
+        fieldB="Matata",
+    )
+    tasks = [
+        _subscriber(Derived),
+        _publisher(Derived, derived),
+    ]
+    results = await asyncio.gather(*tasks)
+    assert results[0] == results[1]
+
+
+@pytest.mark.asyncio
+async def test_cyclonedds_typeof_command(hierarchy_library):
+    '''
+    Executes the command "cyclonedds typeof" and compares the result with the
+    IDL file.
+    '''
+    from Hierarchy import Derived
+    tasks = [
+        _subscriber(Derived),
+        _type_checker(Derived, IDL_FILE),
+    ]
+    await asyncio.gather(*tasks)
+
+
+async def _publisher(topic_class, value, timeout=2):
+    '''
+    Sends a given value update to the subscriber.
+    '''
+    from cyclonedds.domain import DomainParticipant
+    from cyclonedds.topic import Topic
+    from cyclonedds.pub import DataWriter
+
+    participant = DomainParticipant(0)
+    topic = Topic(participant, topic_class.__name__, topic_class)
+    writer = DataWriter(participant, topic)
+    writer.write(value)
+    await asyncio.sleep(timeout)
+    return value
+
+
+async def _subscriber(topic_class, timeout=2):
+    '''
+    Receives an update. Returns None if it times out.
+    '''
+    from cyclonedds.domain import DomainParticipant
+    from cyclonedds.topic import Topic
+    from cyclonedds.sub import DataReader
+    from cyclonedds.util import duration
+
+    participant = DomainParticipant(0)
+    topic = Topic(participant, topic_class.__name__, topic_class)
+    reader = DataReader(participant, topic)
+    async for update in reader.read_aiter(timeout=duration(seconds=timeout)):
+        return update
+    return None
+
+
+async def _type_checker(topic_class, idl_file):
+    '''
+    Executes the command "cyclonedds typeof" and compares the result with a
+    given IDL file.
+    '''
+    def _normalise(text):
+        text = text.replace('\n', ' ')
+        text = ' '.join(text.split())
+        return text
+
+    # loads the IDL file
+    with open(idl_file) as file:
+        expected_idl = file.read().rstrip()
+
+    # executes the command
+    import subprocess
+    result = subprocess.run(
+        ['cyclonedds', 'typeof', topic_class.__name__, '--suppress-progress-bar'],
+        stdout=subprocess.PIPE,
+        check=True,)
+    command_output = result.stdout.decode().splitlines()
+
+    # skips the first lines of the output (As defined in participant...)
+    first_idl_line = 0
+    while first_idl_line < len(command_output) and not command_output[first_idl_line].startswith('module'):
+        first_idl_line += 1
+    actual_idl = '\n'.join(command_output[first_idl_line:])
+
+    # compares the command output with the IDL file
+    print(actual_idl)
+    assert _normalise(actual_idl) == _normalise(expected_idl)