Test mil poi (#1071)

* added starting test files for mil_poi

* Add tests for POI functionality

* Finish out tests

* Fix line endings

---------

Co-authored-by: Jessica Halvorsen <j.halvorsen@ufl.edu>
Co-authored-by: vboxuser <vboxuser@ubuntu.myguest.virtualbox.org>
Co-authored-by: Cameron Brown <me@cbrxyz.com>

mil_common/utils/mil_poi/CMakeLists.txt

@@ -29,3 +29,8 @@ generate_messages(
 )
 
 catkin_package()
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/poi.test)
+endif()

mil_common/utils/mil_poi/test/poi.test

@@ -0,0 +1,6 @@
+<launch>
+	<node pkg="mil_poi" type="poi_server" name="poi_server">
+	</node>
+    <test test-name="async_test" pkg="mil_poi" type="test_async.py" time-limit="19.0"/>
+	<test test-name="sync_test" pkg="mil_poi" type="test_sync.py" time-limit="19.0"/>
+</launch>

mil_common/utils/mil_poi/test/test_async.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+
+import asyncio
+import unittest
+
+import axros
+import rostest
+from geometry_msgs.msg import Point, PointStamped
+from mil_poi.srv import (
+    AddPOI,
+    AddPOIRequest,
+    DeletePOI,
+    DeletePOIRequest,
+    MovePOI,
+    MovePOIRequest,
+)
+from std_msgs.msg import Header
+
+
+class POITestAsync(unittest.IsolatedAsyncioTestCase):
+    async def asyncSetUp(self):
+        self.nh = axros.NodeHandle.from_argv("basic", always_default_name=True)
+        await self.nh.setup()
+        self.add_service = self.nh.get_service_client("/poi_server/add", AddPOI)
+        self.move_service = self.nh.get_service_client("/poi_server/move", MovePOI)
+        self.delete_service = self.nh.get_service_client(
+            "/poi_server/delete",
+            DeletePOI,
+        )
+        await asyncio.gather(
+            self.add_service.wait_for_service(),
+            self.move_service.wait_for_service(),
+            self.delete_service.wait_for_service(),
+        )
+
+    async def test_points(self):
+        # Adding
+        test = await self.add_service(
+            AddPOIRequest(
+                name="test",
+                position=PointStamped(header=Header(), point=Point(0.0, 1.0, 2.0)),
+            ),
+        )
+        self.assertTrue(test.success)
+        test = await self.add_service(
+            AddPOIRequest(
+                name="test2",
+                position=PointStamped(header=Header(), point=Point(0.0, 1.0, 2.0)),
+            ),
+        )
+        self.assertTrue(test.success)
+
+        # Moving
+        test = await self.move_service(
+            MovePOIRequest(
+                name="test",
+                position=PointStamped(header=Header(), point=Point(0.0, -1.0, -2.0)),
+            ),
+        )
+        self.assertTrue(test.success)
+        test = await self.move_service(
+            MovePOIRequest(
+                name="test2",
+                position=PointStamped(header=Header(), point=Point(0.0, 0.0, 0.0)),
+            ),
+        )
+        self.assertTrue(test.success)
+
+        # Moving a non-existent POI should return False
+        test = await self.move_service(
+            MovePOIRequest(
+                name="test3",
+                position=PointStamped(header=Header(), point=Point(0.0, 0.0, 0.0)),
+            ),
+        )
+        self.assertFalse(test.success)
+
+        # Deleting
+        test = await self.delete_service(DeletePOIRequest(name="test"))
+        self.assertTrue(test.success)
+        test = await self.delete_service(DeletePOIRequest(name="test2"))
+        self.assertTrue(test.success)
+
+        # Deleting a non-existent POI should return False
+        test = await self.delete_service(DeletePOIRequest(name="test"))
+        self.assertFalse(test.success)
+
+        # Deleting a non-existent POI should return False
+        test = await self.delete_service(DeletePOIRequest(name="test3"))
+        self.assertFalse(test.success)
+
+    async def asyncTearDown(self):
+        await self.nh.shutdown()
+
+
+if __name__ == "__main__":
+    rostest.rosrun("mil_poi", "test_poi", POITestAsync)
+    unittest.main()

mil_common/utils/mil_poi/test/test_sync.py

@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+import random
+import string
+import unittest
+
+import genpy
+import rospy
+import rostest
+from geometry_msgs.msg import Point, PointStamped
+from mil_poi.srv import (
+    AddPOI,
+    DeletePOI,
+    MovePOI,
+    MovePOIRequest,
+)
+from std_msgs.msg import Header
+
+
+class POITest(unittest.TestCase):
+    def setUp(self):
+        # make one poi here
+        rospy.init_node("poi_test_node")
+        self.poi_name = "test_poi"
+        self.poi_position = PointStamped(header=Header(), point=Point(0.0, 1.0, 2.0))
+        self.add_poi()
+
+    def add_poi(self):
+        rospy.wait_for_service("/poi_server/add")
+        service = rospy.ServiceProxy("/poi_server/add", AddPOI)
+        response = service(self.poi_name, self.poi_position)
+        self.assertTrue(response.success)
+
+    def test_add(self):
+        # Call the add_poi function to add a POI
+        self.add_poi()
+
+    def test_move(self):
+        # Call the add_poi function to add a POI
+        self.add_poi()
+
+        # Wait for the move_poi service to become available
+        rospy.wait_for_service("/poi_server/move")
+        move_service = rospy.ServiceProxy("/poi_server/move", MovePOI)
+
+        # Move the POI to a new position
+        new_position = [1.0, 2.0, 3.0]  # New position coordinates
+        move_response = move_service(
+            MovePOIRequest(
+                name=self.poi_name,
+                position=PointStamped(point=Point(*new_position)),
+            ),
+        )
+        # Check if the additions were unsuccessful
+        self.assertTrue(move_response.success, f"Failed to move POI '{self.poi_name}'")
+
+    def test_delete(self):
+        # Call the add_poi function to add a POI
+        self.add_poi()
+
+        # Wait for the remove_poi service to become available
+        rospy.wait_for_service("/poi_server/delete")
+        remove_service = rospy.ServiceProxy("/poi_server/delete", DeletePOI)
+
+        # Remove the added POI
+        remove_response = remove_service(self.poi_name)
+
+        # Check if the removal was successful
+        self.assertTrue(
+            remove_response.success,
+            f"Failed to delete POI '{self.poi_name}'",
+        )
+
+    def test_long_string(self):
+        rospy.wait_for_service("/poi_server/add")
+        service = rospy.ServiceProxy("/poi_server/add", AddPOI)
+
+        # Create a long string for the POI name
+        long_string = "".join(random.choices(string.ascii_letters, k=20000))
+
+        # Call the service to add a new POI with the long string name
+        response = service(
+            long_string,
+            PointStamped(header=Header(), point=Point(0.0, 1.0, 2.0)),
+        )
+        self.assertTrue(response.success, response.message)
+
+    def test_wrong_types(self):
+        # Wait for the add_poi service to become available
+        rospy.wait_for_service("/poi_server/add")
+        service = rospy.ServiceProxy("/poi_server/add", AddPOI)
+
+        # Try adding a POI with wrong types of arguments
+        with self.assertRaises(genpy.message.SerializationError):
+            service(12321, [0.0, 2.3, 21.3])  # Incorrect name type
+            service("tester", ["hi", "wrong", "bad"])  # Incorrect position type
+
+    def test_delete_twice(self):
+        # Call the add_poi function to add a POI
+        self.add_poi()
+
+        # Wait for the remove_poi service to become available
+        rospy.wait_for_service("/poi_server/delete")
+        remove_service = rospy.ServiceProxy("/poi_server/delete", DeletePOI)
+
+        # Remove the added POI
+        remove_response1 = remove_service(self.poi_name)
+
+        # Try removing the same POI again
+        remove_response2 = remove_service(self.poi_name)
+
+        # Check if the first removal was successful and the second removal was unsuccessful
+        self.assertTrue(
+            remove_response1.success,
+            f"Failed to remove POI '{self.poi_name}'",
+        )
+        self.assertFalse(
+            remove_response2.success,
+            f"Removed POI '{self.poi_name}' twice",
+        )
+
+
+if __name__ == "__main__":
+    rostest.rosrun("mil_poi", "test_poi", POITest)
+    unittest.main()