Test Validator CLI

Readme.md

@@ -52,7 +52,7 @@ Validates and formats `package.xml` files to enforce consistency and ROS 2 schem
 ## 🛠️ Usage Example
 
 ```bash
-package-xml-validator [-h] [--check-only] [--file FILE] [--verbose] [--check-with-xmllint] [--skip-rosdep-key-validation] [--compare-with-cmake] [src ...]
+package-xml-validator [-h] [--check-only] [--file FILE] [--verbose] [--skip-rosdep-key-validation] [--compare-with-cmake] [src ...]
 
 Validate and format ROS2 package.xml files.
 
@@ -64,7 +64,6 @@ options:
   --check-only                  Only check for errors without correcting.
   --file FILE                   Path to a single XML file to process. If provided, 'src' arguments are ignored.
   --verbose                     Enable verbose output.
-  --check-with-xmllint          Recheck XML schema using xmllint.
   --skip-rosdep-key-validation  Check if rosdeps are valid.
   --compare-with-cmake          Check if all CMake dependencies are in package.xml.
   --auto-fill-missing-deps      Automatically fill missing dependencies in package.xml.

package_xml_validation/helpers/find_launch_dependencies.py

@@ -35,11 +35,8 @@
 
 def scan_file(path, found: set[str], verbose: bool = False):
     """Apply every regex to the file and add matches to `found`."""
-    try:
-        with open(path, encoding="utf-8") as f:
-            text = f.read()
-    except (UnicodeDecodeError, OSError):
-        return
+    with open(path, encoding="utf-8") as f:
+        text = f.read()
 
     for i, rx in enumerate(COMPILED):
         for m in rx.finditer(text):

package_xml_validation/helpers/workspace.py

@@ -128,6 +128,20 @@ def get_pkgs_in_wrs(path: Path) -> list[str]:
     return sorted(pkgs)
 
 
+def find_package_xml_files(paths) -> list[str]:
+    files = []
+    for p in paths:
+        p = Path(p)
+        if p.is_file() and p.name == "package.xml":
+            files.append(p)
+        elif p.is_file() and p.name == "CMakeLists.txt":
+            files.append(p.parent / "package.xml")
+        elif p.is_dir():
+            for xml in p.rglob("package.xml"):
+                files.append(xml)
+    return sorted({str(x) for x in files})
+
+
 def main() -> None:
     ap = argparse.ArgumentParser(
         description=(

package_xml_validation/package_xml_validator.py

@@ -9,13 +9,14 @@
     from .helpers.pkg_xml_formatter import PackageXmlFormatter
     from .helpers.cmake_parsers import read_deps_from_cmake_file
     from .helpers.find_launch_dependencies import scan_files
+    from .helpers.workspace import find_package_xml_files
 except ImportError:
     from helpers.logger import get_logger
     from helpers.rosdep_validator import RosdepValidator
     from helpers.pkg_xml_formatter import PackageXmlFormatter
     from helpers.cmake_parsers import read_deps_from_cmake_file
     from helpers.find_launch_dependencies import scan_files
-import subprocess
+    from helpers.workspace import find_package_xml_files
 import re
 
 
@@ -29,7 +30,6 @@ class PackageXmlValidator:
     def __init__(
         self,
         check_only=False,
-        check_with_xmllint=False,
         check_rosdeps=True,
         compare_with_cmake=False,
         auto_fill_missing_deps=False,
@@ -38,7 +38,6 @@ def __init__(
     ):
         self.verbose = verbose
         self.check_only = check_only
-        self.check_with_xmllint = check_with_xmllint
         self.check_rosdeps = check_rosdeps
         self.compare_with_cmake = compare_with_cmake
         if self.compare_with_cmake and not self.check_rosdeps:
@@ -52,7 +51,7 @@ def __init__(
             self.rosdep_validator = RosdepValidator(pkg_path=path)
         self.formatter = PackageXmlFormatter(
             check_only=check_only,
-            check_with_xmllint=check_with_xmllint,
+            check_with_xmllint=False,
             verbose=verbose,
         )
         self.encountered_unresolvable_error = False
@@ -62,29 +61,9 @@ def __init__(
         self.check_count = 1
         if self.check_rosdeps:
             self.num_checks += 1
-        if self.check_with_xmllint:
-            self.num_checks += 1
         if self.compare_with_cmake:
             self.num_checks += 1
 
-    def find_package_xml_files(self, paths):
-        """Locate all package.xml files within the provided paths."""
-        package_xml_files = []
-        for path in paths:
-            if os.path.isfile(path) and os.path.basename(path) == "package.xml":
-                package_xml_files.append(path)
-            elif os.path.isfile(path) and os.path.basename(path) == "CMakeLists.txt":
-                package_xml_files.append(
-                    os.path.join(os.path.dirname(path), "package.xml")
-                )
-            elif os.path.isdir(path):
-                for root, _, files in os.walk(path):
-                    if "package.xml" in files:
-                        package_xml_files.append(os.path.join(root, "package.xml"))
-        # Filter out duplicates
-        package_xml_files = list(set(package_xml_files))
-        return package_xml_files
-
     def get_package_type(self, xml_file: str) -> tuple[PackageType, bool]:
         """Determine the package type based on the presence of CMakeLists.txt or setup.py.
         Returns <PackageType, bool> where bool indicates if the package is a message package."""
@@ -136,7 +115,7 @@ def check_for_cmake(
         pkg_name = os.path.basename(os.path.dirname(xml_file))
         valid_xml = True
         build_deps_cmake, test_deps_cmake = read_deps_from_cmake_file(cmake_file)
-        # make sure that all cmake dependencies are in the package.xml if they can be resolved
+        # ----------------------------  BUILD DEPENDENCIES ----------------------------
         unresolvable = self.rosdep_validator.check_rosdeps_and_local_pkgs(
             build_deps_cmake
         )
@@ -161,7 +140,7 @@ def check_for_cmake(
         unresolvable = self.rosdep_validator.check_rosdeps_and_local_pkgs(
             test_deps_cmake
         )
-
+        # ----------------------------  TEST DEPENDENCIES ----------------------------
         missing_deps = [
             dep
             for dep in test_deps_cmake
@@ -181,24 +160,6 @@ def check_for_cmake(
                 self.formatter.add_dependencies(root, missing_deps, "test_depend")
         return valid_xml
 
-    def validate_xml_with_xmllint(self, xml_file):
-        """Validate XML file against the ROS package_format3.xsd schema using xmllint."""
-        schema_url = "http://download.ros.org/schema/package_format3.xsd"
-        try:
-            result = subprocess.run(
-                ["xmllint", "--noout", "--schema", schema_url, xml_file],
-                capture_output=True,
-                text=True,
-            )
-            if result.returncode != 0:
-                self.logger.error(f"XML validation error in {xml_file}:")
-                self.logger.error(result.stderr)
-                return False
-            return True
-        except Exception as e:
-            self.logger.error(f"Error running xmllint on {xml_file}: {e}")
-            return False
-
     def validate_launch_dependencies(
         self,
         root,
@@ -546,12 +507,6 @@ def check_and_format_files(self, package_xml_files):
                     "Check ROS dependencies", self.check_for_rosdeps, rosdeps, xml_file
                 )
                 self.encountered_unresolvable_error |= not valid
-            # Check with xmllint if enabled
-            if self.check_with_xmllint:
-                valid = self.perform_check(
-                    "Check with xmllint", self.validate_xml_with_xmllint, xml_file
-                )
-                self.encountered_unresolvable_error |= not valid
             # Check for CMake dependencies if enabled
             if self.compare_with_cmake:
                 build_deps = self.formatter.retrieve_build_dependencies(root)
@@ -597,7 +552,7 @@ def check_and_format_files(self, package_xml_files):
             return True
 
     def check_and_format(self, src):
-        package_xml_files = self.find_package_xml_files(src)
+        package_xml_files = find_package_xml_files(src)
         if not package_xml_files:
             self.logger.info("No package.xml files found in the provided paths.")
             return
@@ -623,11 +578,6 @@ def main():
 
     parser.add_argument("--verbose", action="store_true", help="Enable verbose output.")
 
-    parser.add_argument(
-        "--check-with-xmllint",
-        action="store_true",
-        help="Recheck XML schema using xmllint.",
-    )
     parser.add_argument(
         "--skip-rosdep-key-validation",
         action="store_true",
@@ -667,7 +617,6 @@ def main():
     formatter = PackageXmlValidator(
         check_only=args.check_only,
         verbose=args.verbose,
-        check_with_xmllint=args.check_with_xmllint,
         check_rosdeps=not args.skip_rosdep_key_validation,
         compare_with_cmake=args.compare_with_cmake,
         auto_fill_missing_deps=args.auto_fill_missing_deps,

tests/examples/cmake_specific_tests/hector_gamepad_manager/pkg_missing_test_depends/CMakeLists.txt

@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 3.8)
+project(hector_gamepad_manager)
+
+if (NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+set(DEPENDENCIES
+        pluginlib
+        rclcpp
+        sensor_msgs
+        yaml-cpp
+        hector_gamepad_plugin_interface
+)
+
+foreach(Dependency IN LISTS DEPENDENCIES)
+    find_package(${Dependency} REQUIRED)
+endforeach()
+
+set(HEADERS
+        include/hector_gamepad_manager/hector_gamepad_manager.hpp
+)
+
+set(SOURCES
+        src/hector_gamepad_manager.cpp
+)
+
+add_library(${PROJECT_NAME} SHARED ${SOURCES} ${HEADERS})
+target_include_directories(${PROJECT_NAME} PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(${PROJECT_NAME} PUBLIC yaml-cpp)
+ament_target_dependencies(${PROJECT_NAME} PUBLIC ${DEPENDENCIES})
+
+add_executable(hector_gamepad_manager_node src/hector_gamepad_manager_node.cpp)
+target_link_libraries(hector_gamepad_manager_node PUBLIC ${PROJECT_NAME})
+
+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}-targets LIBRARY DESTINATION lib)
+install(DIRECTORY include/ DESTINATION include)
+install(TARGETS hector_gamepad_manager_node DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
+
+
+if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    find_package(ros_testing REQUIRED)
+    ament_add_gtest_executable(${PROJECT_NAME}_test
+            test/test_hector_gamepad_manager.cpp
+    )
+    target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})
+    ament_target_dependencies(${PROJECT_NAME}_test ${THIS_PACKAGE_INCLUDE_DEPENDS})
+    add_ros_test(test/test_hector_gamepad_manager.launch.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
+endif ()
+
+
+ament_export_targets(${PROJECT_NAME}-targets)
+ament_export_include_directories(include)
+ament_export_dependencies(${DEPENDENCIES})
+ament_package()

tests/examples/cmake_specific_tests/hector_gamepad_manager/pkg_missing_test_depends/package.xml

@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hector_gamepad_manager</name>
+  <version>0.0.0</version>
+  <description>Package for managing gamepad inputs</description>
+  <maintainer email="simon.giegerich@stud.tu-darmstadt.de">Simon Giegerich</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>hector_gamepad_plugin_interface</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>yaml-cpp</depend>
+
+  <exec_depend>hector_gamepad_manager_plugins</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

tests/examples/export_tag_examples/ament_cmake/pkg_no_buildtype_tag/package.xml

@@ -22,6 +22,5 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ros_testing</test_depend>
 
-  <export>
-  </export>
+  <export></export>
 </package>

tests/examples/export_tag_examples/ament_python/pkg_no_buildtype_tag/package.xml

@@ -1,4 +1,4 @@
-<?xml version="1.0"?>
+<?xml version='1.0' encoding='UTF-8'?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>python_pkg</name>
@@ -12,7 +12,6 @@
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
 
-  <export>
-  </export>
+  <export></export>
 
 </package>

tests/examples/launch_pkg_examples/dynamixel_ros_control/pkg_correct/package.xml

@@ -23,6 +23,7 @@
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>transmission_interface</depend>
+  <depend>yaml-cpp</depend>
   <depend>yaml_cpp_vendor</depend>
 
   <exec_depend>controller_manager</exec_depend>

tests/examples/launch_pkg_examples/dynamixel_ros_control/pkg_missing_launch_deps/package.xml

@@ -23,6 +23,7 @@
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>transmission_interface</depend>
+  <depend>yaml-cpp</depend>
   <depend>yaml_cpp_vendor</depend>
 
   <test_depend>ament_lint_auto</test_depend>

tests/test_find_launch_dependencies.py

@@ -1,7 +1,10 @@
 import os
 import unittest
 
-from package_xml_validation.helpers.find_launch_dependencies import scan_file
+from package_xml_validation.helpers.find_launch_dependencies import (
+    scan_file,
+    scan_files,
+)
 
 
 class TestFindLaunchDependencies(unittest.TestCase):
@@ -50,6 +53,19 @@ def test_scan_each_file(self):
                     ),
                 )
 
+    def test_scan_each_file_given_file(self):
+        """When given a file path, or an not existing directory scan_files should return an empty list"""
+        found = scan_files("non_existing_file.launch.py")
+        self.assertEqual(len(found), 0)
+        existing_file = os.path.join(
+            os.path.dirname(__file__),
+            "examples",
+            "launch_examples",
+            "python_example.launch.py",
+        )
+        found = scan_files(existing_file)
+        self.assertEqual(len(found), 0)
+
 
 if __name__ == "__main__":
     unittest.main()