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Initialize agent with args input #18

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5271cb2
Initialize agent with args input
Acuadros95 Jul 23, 2021
7704532
Update with changes
Acuadros95 Jul 26, 2021
5e95702
Fix memory leak
Acuadros95 Jul 26, 2021
b2de9e9
Update agent branch
Acuadros95 Jul 27, 2021
b6744e9
Set branch
Acuadros95 Jul 27, 2021
87357ee
Set branch
Acuadros95 Jul 27, 2021
3b540ed
Update to only run on galactic
Acuadros95 Jul 27, 2021
7feb753
Update agent build ci
Acuadros95 Jul 27, 2021
b13c240
Test ci
Acuadros95 Jul 27, 2021
e8bccc3
Test IF on ci
Acuadros95 Jul 27, 2021
80f2acf
Test IF on ci
Acuadros95 Jul 27, 2021
0757b6c
Test on CI
Acuadros95 Jul 27, 2021
28c6bfb
Disable changes
Acuadros95 Jul 27, 2021
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4 changes: 2 additions & 2 deletions .github/workflows/build_agent.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ jobs:
strategy:
fail-fast: false
matrix:
ros_distribution: [ foxy, galactic ]
ros_distribution: [ galactic ]
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@Acuadros95 Acuadros95 Jul 27, 2021

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Modify custom branch before merge

runs-on: rpi-ros2-${{ matrix.ros_distribution }}
steps:
# - uses: ros-tooling/[email protected]
Expand All @@ -23,7 +23,7 @@ jobs:
with:
path: ros_ws/src/micro_ros_renesas_testbench
submodules: recursive
ref: ${{ matrix.ros_distribution }}
ref: feature/agent_API
token: ${{ secrets.PRIVATE_KEY }}
- name: Download dependencies
run: |
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4 changes: 2 additions & 2 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ jobs:
strategy:
fail-fast: false
matrix:
ros_distribution: [ foxy, galactic ]
ros_distribution: [ galactic ]
runs-on: rpi-ros2-${{ matrix.ros_distribution }}
steps:
# - uses: ros-tooling/[email protected]
Expand All @@ -27,7 +27,7 @@ jobs:
with:
path: ros_ws/src/micro_ros_renesas_testbench
submodules: recursive
ref: ${{ matrix.ros_distribution }}
ref: feature/agent_API
token: ${{ secrets.PRIVATE_KEY }}
- name: Download dependencies
run: |
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15 changes: 13 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -26,12 +26,20 @@ if(BUILD_TESTING)
find_package(fastrtps REQUIRED)
find_package(fastrtps_cmake_module REQUIRED)
find_package(microxrcedds_agent REQUIRED)
find_package(micro_ros_agent REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(example_interfaces REQUIRED)

find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
find_package(rosidl_runtime_cpp REQUIRED)
find_package(rosidl_typesupport_cpp REQUIRED)
find_package(rmw_dds_common REQUIRED)
find_package(rmw_fastrtps_shared_cpp REQUIRED)
find_package(micro_ros_msgs REQUIRED)

# ament_lint_auto_find_test_dependencies()

ament_add_gtest(${PROJECT_NAME}_test
Expand All @@ -40,17 +48,20 @@ if(BUILD_TESTING)

string(TOUPPER $ENV{ROS_DISTRO} ROS_DISTRO)
target_compile_options(${PROJECT_NAME}_test PRIVATE -DROS_DISTRO_${ROS_DISTRO})
target_include_directories(${PROJECT_NAME}_test PRIVATE include src test)
target_include_directories(${PROJECT_NAME}_test PRIVATE include src test micro_ros_agent_INCLUDE_DIR)

target_link_libraries(${PROJECT_NAME}_test
fastcdr
fastrtps
microxrcedds_agent)
microxrcedds_agent
micro_ros_agent
)

ament_target_dependencies(${PROJECT_NAME}_test
fastcdr
fastrtps
microxrcedds_agent
micro_ros_agent
rclcpp
rmw
std_msgs
Expand Down
1 change: 1 addition & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
<depend>example_interfaces</depend>

<depend>microxrcedds_agent</depend>
<depend>micro_ros_agent</depend>

<buildtool_depend>ament_cmake</buildtool_depend>

Expand Down
2 changes: 1 addition & 1 deletion requirements.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ repositories:
micro-ROS-Agent:
type: git
url: https://github.com/micro-ROS/micro-ROS-Agent.git
version: galactic
version: feature/stop_agent
Micro-XRCE-DDS-Agent:
type: git
url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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4 changes: 3 additions & 1 deletion test/micro_ros_renesas_testbench/test.hpp
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Expand Up @@ -109,7 +109,7 @@ class HardwareTestBase : public ::testing::Test

// Set domain id
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
init_options = rcl_get_zero_initialized_init_options();

ASSERT_EQ(rcl_init_options_init(&init_options, allocator), RCL_RET_OK);
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
Expand All @@ -126,6 +126,7 @@ class HardwareTestBase : public ::testing::Test
void TearDown() override {
agent->stop();
rclcpp::shutdown();
(void) rcl_init_options_fini(&init_options);
}

bool checkConnection(){
Expand Down Expand Up @@ -204,6 +205,7 @@ class HardwareTestBase : public ::testing::Test
std::shared_ptr<TestAgent> agent;
std::shared_ptr<rclcpp::Node> node;
rclcpp::InitOptions options;
rcl_init_options_t init_options;

std::string cwd;
std::string project_name;
Expand Down
60 changes: 39 additions & 21 deletions test/micro_ros_renesas_testbench/test_agent.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@
#include <chrono>
#include <thread>

#include <agent/Agent.hpp>

class TestAgent
{
public:
Expand Down Expand Up @@ -73,61 +75,77 @@ class TestAgent
static std::string getIPAddress();

private:
std::shared_ptr<std::thread> agent_thread_;
uint16_t port_;
uros::agent::Agent& micro_ros_agent;
std::vector<const char*> agent_args;
std::string port_;
std::string dev_;
std::string command_;
std::string verbosity_;
};

TestAgent::TestAgent(uint16_t port, uint8_t verbosity = 6)
: micro_ros_agent(micro_ros_agent.getInstance())
{
port_ = port;
command_ = "ros2 run micro_ros_agent micro_ros_agent udp4 --port " + std::to_string(port_) + " -v" + std::to_string(verbosity);
verbosity_ = "-v" + std::to_string(verbosity);
port_ = std::to_string(port);

agent_args.push_back("");
agent_args.push_back("udp4");
agent_args.push_back("--port");
agent_args.push_back(port_.c_str());
agent_args.push_back(verbosity_.c_str());
}

TestAgent::TestAgent(std::string dev, uint8_t verbosity = 6)
: micro_ros_agent(micro_ros_agent.getInstance())
{
verbosity_ = "-v" + std::to_string(verbosity);
dev_ = dev;
command_ = "ros2 run micro_ros_agent micro_ros_agent serial --dev " + dev_ + " -v" + std::to_string(verbosity);

agent_args.push_back("");
agent_args.push_back("serial");
agent_args.push_back("--dev");
agent_args.push_back(dev_.c_str());
agent_args.push_back(verbosity_.c_str());
}

TestAgent::TestAgent(Transport transport, std::string args, uint8_t verbosity = 6)
: micro_ros_agent(micro_ros_agent.getInstance())
{
std::string transport_type;

verbosity_ = "-v" + std::to_string(verbosity);
agent_args.push_back("");

switch (transport)
{
case Transport::UDP_THREADX_TRANSPORT:
case Transport::UDP_FREERTOS_TRANSPORT:
transport_type = "udp4";
port_ = args;
agent_args.push_back("udp4");
agent_args.push_back("--port");
agent_args.push_back(port_.c_str());
break;
case Transport::SERIAL_TRANSPORT:
case Transport::USB_TRANSPORT:
transport_type = "serial";
dev_ = args;
agent_args.push_back("serial");
agent_args.push_back("--dev");
agent_args.push_back(dev_.c_str());
break;
default:
break;
}

command_ = "ros2 run micro_ros_agent micro_ros_agent " + transport_type + " " + args + " -v" + std::to_string(verbosity);
agent_args.push_back(verbosity_.c_str());
}

void TestAgent::start()
{
stop();
agent_thread_.reset(new std::thread(
[&]() -> void {
system(command_.c_str());
}
));
micro_ros_agent.create(agent_args.size(), const_cast<char**> (agent_args.data()));
agent_args.clear();
}

void TestAgent::stop()
{
system("pkill micro_ros_agent");
if(agent_thread_) {
agent_thread_->join();
}
micro_ros_agent.stop();
}

std::string TestAgent::getIPAddress(){
Expand Down