reenable tests

CMakeLists.txt

@@ -62,8 +62,5 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 
 if(BUILD_TESTING)
-  # TODO reenable tests
-  # find_package(catkin REQUIRED rospy roslib)
-  # find_package(rostest)
-  # add_subdirectory(test)
+  add_subdirectory(test)
 endif()

package.xml

@@ -20,10 +20,6 @@
   <exec_depend>libssl-dev</exec_depend>
   <exec_depend>boost</exec_depend>
 
-  <!--
-  <test_depend>rostest</test_depend>
-  <test_depend>rospy</test_depend>
-  <test_depend>roslib</test_depend>
-  <test_depend>python-websocket</test_depend>
-  -->
+  <test_depend>launch_testing</test_depend>
+  <test_depend>python3-websocket</test_depend>
 </package>

test/CMakeLists.txt

@@ -1,10 +1,18 @@
-add_executable(test_web_server EXCLUDE_FROM_ALL test_web_server.cpp)
-target_link_libraries(test_web_server ${PROJECT_NAME} ${catkin_LIBRARIES})
+add_executable(test_web_server test_web_server.cpp)
+set_target_properties(test_web_server PROPERTIES
+  COMPILE_DEFINITIONS "ASYNC_WEB_SERVER_CPP_TEST_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}\"")
+target_link_libraries(test_web_server ${PROJECT_NAME})
 
-if(TARGET tests)
-  add_dependencies(tests
-    test_web_server
-    )
-endif()
-
-add_rostest(tests.test)
+set(generated_test_file "${CMAKE_CURRENT_BINARY_DIR}/tests")
+set(TEST_WEB_SERVER_EXECUTABLE $<TARGET_FILE:test_web_server>)
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/tests.py.in"
+  "${generated_test_file}.py.genexp"
+  @ONLY)
+file(GENERATE
+  OUTPUT "${generated_test_file}_$<CONFIG>.py"
+  INPUT "${generated_test_file}.py.genexp"
+)
+ament_add_test(tests
+  COMMAND "${generated_test_file}_$<CONFIG>.py"
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO)

test/simple_http_requests_test.py

@@ -1,9 +1,9 @@
-#! /usr/bin/env python
+#!/usr/bin/env python3
 
-import httplib
-import rospy
-import unittest
+import http.client as httplib
 import time
+import unittest
+
 
 class TestSimpleHttpRequests(unittest.TestCase):
     def setUp(self):
@@ -44,49 +44,49 @@ def test_default_action(self):
         response = self.conn.getresponse()
         self.assertEqual(404, response.status)
 
-    def test_default_action(self):
+    def test_default_action2(self):
         self.conn.request("GET", "/a_static_response")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("A RESPONSE", response.read())
+        self.assertEqual(b"A RESPONSE", response.read())
 
     def test_http_echo1(self):
-        test_content = "hello HELLO"*1000 # make sure to exceed MTU
+        test_content = "hello HELLO" * 1000  # make sure to exceed MTU
         self.conn.request("GET", "/http_body_echo", test_content)
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual(test_content, response.read())
+        self.assertEqual(test_content.encode(), response.read())
 
     def test_http_echo2(self):
-        test_content = "THIS is A test"*1000 # make sure to exceed MTU
+        test_content = "THIS is A test" * 1000  # make sure to exceed MTU
         self.conn.request("POST", "/http_body_echo", test_content)
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual(test_content, response.read())
+        self.assertEqual(test_content.encode(), response.read())
 
     def test_http_path_echo(self):
         self.conn.request("GET", "/http_path_echo/this_is_a_test")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("/http_path_echo/this_is_a_test", response.read())
+        self.assertEqual(b"/http_path_echo/this_is_a_test", response.read())
 
     def test_http_query_echo(self):
         self.conn.request("GET", "/http_query_echo?hello=1&b=test&c=10")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("b=test\nc=10\nhello=1\n", response.read())
+        self.assertEqual(b"b=test\nc=10\nhello=1\n", response.read())
 
     def test_file(self):
         self.conn.request("GET", "/test_file")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("<html></html>\n", response.read())
+        self.assertEqual(b"<html></html>\n", response.read())
 
     def test_file_from_filesystem(self):
         self.conn.request("GET", "/test_files/test_dir/test_file.txt")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("test\n", response.read())
+        self.assertEqual(b"test\n", response.read())
 
     def test_directory_listing_forbidden_from_filesystem1(self):
         self.conn.request("GET", "/test_files/test_dir/")
@@ -103,9 +103,8 @@ def test_directory_listing_from_filesystem(self):
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
 
+
 if __name__ == '__main__':
-    time.sleep(1) # ensure server is up
+    time.sleep(1)  # ensure server is up
 
-    import rostest
-    rospy.init_node('simple_http_requests_test')
-    rostest.rosrun('async_web_server_cpp', 'simple_http_requests', TestSimpleHttpRequests)
+    unittest.main()

test/test_web_server.cpp

@@ -3,7 +3,6 @@
 #include "async_web_server_cpp/websocket_connection.hpp"
 #include "async_web_server_cpp/websocket_request_handler.hpp"
 #include <signal.h>
-#include <ros/package.h>
 
 using namespace async_web_server_cpp;
 
@@ -79,14 +78,15 @@ int main(int argc, char **argv)
 
   handler_group.addHandlerForPath("/websocket_echo", WebsocketHttpRequestHandler(websocket_echo));
 
+  auto test_dir = std::string(ASYNC_WEB_SERVER_CPP_TEST_DIR);
   handler_group.addHandlerForPath("/test_files/.+", HttpReply::from_filesystem(HttpReply::ok,
-									       "/test_files/", ros::package::getPath("async_web_server_cpp") + "/test",
+									       "/test_files/", test_dir,
 										false));
   handler_group.addHandlerForPath("/test_files_with_dir/.+", HttpReply::from_filesystem(HttpReply::ok,
-											"/test_files_with_dir/", ros::package::getPath("async_web_server_cpp") + "/test",
+											"/test_files_with_dir/", test_dir,
 											true));
   handler_group.addHandlerForPath("/test_file", HttpReply::from_file(HttpReply::ok, "text/html",
-								     ros::package::getPath("async_web_server_cpp") + "/test/test.html"));
+								     test_dir + "/test.html"));
 
   HttpServer server("0.0.0.0", "9849", handler_group, 1);
 

test/tests.py.in

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+
+from launch_testing import LaunchTestService
+
+
+def main(argv=sys.argv[1:]):
+    ld = LaunchDescription()
+
+    web_server_action = ExecuteProcess(
+        cmd=['@TEST_WEB_SERVER_EXECUTABLE@'])
+    ld.add_action(web_server_action)
+
+    test_directory = '@CMAKE_CURRENT_SOURCE_DIR@'
+
+    test1_action = ExecuteProcess(
+        cmd=[
+            sys.executable, '-u',
+            os.path.join(test_directory, 'simple_http_requests_test.py')],
+        name='simple_http_requests_test',
+    )
+    ld.add_action(test1_action)
+
+    test2_action = ExecuteProcess(
+        cmd=[
+            sys.executable, '-u',
+            os.path.join(test_directory, 'websocket_test.py')],
+        name='websocket_test',
+    )
+    ld.add_action(test2_action)
+
+    lts = LaunchTestService()
+    lts.add_test_action(ld, test1_action)
+    lts.add_test_action(ld, test2_action)
+
+    ls = LaunchService(argv=argv)
+    ls.include_launch_description(ld)
+    return lts.run(ls)
+
+
+if __name__ == '__main__':
+    sys.exit(main())

test/websocket_test.py

@@ -1,13 +1,15 @@
-#! /usr/bin/env python
+#!/usr/bin/env python3
 
-import websocket
-import rospy
-import unittest
 import time
+import unittest
+
+import websocket
+
 
 class TestWebsocket(unittest.TestCase):
     def setUp(self):
-        self.ws = websocket.create_connection("ws://localhost:9849/websocket_echo")
+        self.ws = websocket.create_connection(
+            "ws://localhost:9849/websocket_echo")
 
     def tearDown(self):
         self.ws.close()
@@ -23,16 +25,15 @@ def test_ok(self):
         self.ws.ping("test ping")
         ping_echo = self.ws.recv_frame()
         self.assertEqual(9, ping_echo.opcode)
-        self.assertEqual("test ping", ping_echo.data)
+        self.assertEqual(b"test ping", ping_echo.data)
 
         self.ws.pong("test pong")
         pong_echo = self.ws.recv_frame()
         self.assertEqual(10, pong_echo.opcode)
-        self.assertEqual("test pong", pong_echo.data)
+        self.assertEqual(b"test pong", pong_echo.data)
+
 
 if __name__ == '__main__':
-    time.sleep(1) # ensure server is up
+    time.sleep(1)  # ensure server is up
 
-    import rostest
-    rospy.init_node('websocket_test')
-    rostest.rosrun('async_web_server_cpp', 'websocket', TestWebsocket)
+    unittest.main()