adding tests for http authentication and SSL

Author: Edwardius

robot_mcp_server/CMakeLists.txt

@@ -91,18 +91,19 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-# Install test configuration files
-install(DIRECTORY test/launch_tests/
-  DESTINATION share/${PROJECT_NAME}/test/launch_tests
-  FILES_MATCHING
-  PATTERN "*.yaml"
-)
-
 if(BUILD_TESTING)
   # Find robot_mcp_test package
   find_package(robot_mcp_test REQUIRED)
   find_package(launch_testing_ament_cmake REQUIRED)
 
+  # Install test configuration files and test utilities
+  install(DIRECTORY test/launch_tests/
+    DESTINATION share/${PROJECT_NAME}/test/launch_tests
+    FILES_MATCHING
+    PATTERN "*.yaml"
+    PATTERN "test_utils.py"
+  )
+
   # Include the custom test function
   include(${robot_mcp_test_DIR}/add_robot_mcp_test.cmake)
 
@@ -120,26 +121,12 @@ if(BUILD_TESTING)
       ${PROJECT_NAME}
   )
 
-  # Add launch tests
-  add_launch_test(
-    test/launch_tests/test_complete_config.py
-  )
-
-  add_launch_test(
-    test/launch_tests/test_minimal_config.py
-  )
-
-  add_launch_test(
-    test/launch_tests/test_http_integration.py
-  )
-
-  add_launch_test(
-    test/launch_tests/test_authentication.py
-  )
-
-  add_launch_test(
-    test/launch_tests/test_https.py
-  )
+  # Add launch tests with test_utils support
+  add_robot_mcp_launch_test(test/launch_tests/test_complete_config.py)
+  add_robot_mcp_launch_test(test/launch_tests/test_minimal_config.py)
+  add_robot_mcp_launch_test(test/launch_tests/test_http_integration.py)
+  add_robot_mcp_launch_test(test/launch_tests/test_authentication.py)
+  add_robot_mcp_launch_test(test/launch_tests/test_https.py)
 endif()
 
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)

robot_mcp_server/src/robot_mcp_server_node.cpp

@@ -149,7 +149,12 @@ CallbackReturn MCPServerNode::on_deactivate(const rclcpp_lifecycle::State & /*st
 
     // Stop bond heartbeat
     if (bond_) {
-      bond_->breakBond();
+      try {
+        bond_->breakBond();
+      } catch (const std::exception & e) {
+        // Bond breaking may fail if RCL context is already shut down during SIGINT
+        RCLCPP_DEBUG(get_logger(), "Bond break failed (context may be shut down): %s", e.what());
+      }
       bond_.reset();
       RCLCPP_INFO(get_logger(), "Bond heartbeat stopped");
     }

robot_mcp_server/test/launch_tests/test_authentication.py

@@ -39,7 +39,7 @@ def generate_test_description():
         namespace="",
         parameters=[
             {
-                "server.host": "127.0.0.1",
+                "server.host": "127.0.0.2",
                 "server.port": 18081,
                 "server.api_key": test_api_key,
                 "server.enable_https": False,
@@ -71,7 +71,7 @@ def generate_test_description():
 class TestAuthentication(unittest.TestCase):
     """Active tests for authentication."""
 
-    BASE_URL = "http://127.0.0.1:18081"
+    BASE_URL = "http://127.0.0.2:18081"
     VALID_API_KEY = "test_secret_key_12345"
 
     @classmethod

robot_mcp_server/test/launch_tests/test_http_integration.py

@@ -15,7 +15,6 @@
 
 """Integration test for HTTP server and MCP endpoint."""
 
-import time
 import unittest
 import requests
 
@@ -26,6 +25,8 @@
 
 import pytest
 
+from test_utils import wait_for_server
+
 
 def generate_test_description():
     """Launch the MCP server with lifecycle manager."""
@@ -73,12 +74,14 @@ class TestHTTPIntegration(unittest.TestCase):
 
     BASE_URL = "http://127.0.0.1:18080"
 
+    @classmethod
+    def setUpClass(cls):
+        """Wait for server to be ready."""
+        wait_for_server(cls.BASE_URL)
+
     def test_server_responds_to_valid_jsonrpc_request(self):
         """Test server responds with valid JSON-RPC response."""
 
-        # Give server time to start
-        time.sleep(1.0)
-
         # Send valid JSON-RPC request
         payload = {
             "jsonrpc": "2.0",
@@ -113,9 +116,6 @@ def test_server_responds_to_valid_jsonrpc_request(self):
 
     def test_server_rejects_invalid_json(self):
         """Test server returns error for malformed JSON."""
-
-        time.sleep(1.0)
-
         # Send invalid JSON
         response = requests.post(
             f"{self.BASE_URL}/mcp",
@@ -133,9 +133,6 @@ def test_server_rejects_invalid_json(self):
 
     def test_server_rejects_invalid_jsonrpc_structure(self):
         """Test server returns error for invalid JSON-RPC structure."""
-
-        time.sleep(1.0)
-
         # Send JSON missing required fields
         payload = {
             "method": "test",
@@ -159,9 +156,6 @@ def test_server_rejects_invalid_jsonrpc_structure(self):
 
     def test_server_handles_cors_preflight(self):
         """Test server handles CORS preflight OPTIONS request."""
-
-        time.sleep(1.0)
-
         # Send OPTIONS request
         response = requests.options(
             f"{self.BASE_URL}/mcp",
@@ -181,9 +175,6 @@ def test_server_handles_cors_preflight(self):
 
     def test_server_handles_multiple_requests(self):
         """Test server can handle multiple concurrent requests."""
-
-        time.sleep(1.0)
-
         # Send multiple requests with different IDs
         responses = []
         for i in range(5):
@@ -205,9 +196,6 @@ def test_server_handles_multiple_requests(self):
 
     def test_server_responds_with_null_id(self):
         """Test server handles requests with null id."""
-
-        time.sleep(1.0)
-
         payload = {"jsonrpc": "2.0", "method": "test", "id": None}
 
         response = requests.post(

robot_mcp_server/test/launch_tests/test_https.py

@@ -18,7 +18,6 @@
 import os
 import shutil
 import subprocess
-import time
 import unittest
 
 import launch
@@ -28,6 +27,8 @@
 import pytest
 import requests
 
+from test_utils import wait_for_server
+
 
 def generate_test_certificates():
     """Generate self-signed certificates for testing."""
@@ -118,7 +119,7 @@ class TestHTTPS(unittest.TestCase):
     @classmethod
     def setUpClass(cls):
         """Wait for server to be ready."""
-        time.sleep(5)
+        wait_for_server(cls.BASE_URL, verify=False)
 
     @classmethod
     def tearDownClass(cls):

robot_mcp_server/test/launch_tests/test_utils.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Shared utilities for launch tests."""
+
+import time
+import requests
+
+
+def wait_for_server(
+    base_url,
+    max_attempts=50,
+    timeout=0.5,
+    verify=True,
+    headers=None,
+):
+    """Poll server until ready with exponential backoff.
+
+    Args:
+        base_url: Base URL of the server (e.g., "http://127.0.0.1:8080")
+        max_attempts: Maximum number of connection attempts
+        timeout: Timeout in seconds for each request
+        verify: Whether to verify SSL certificates (False for self-signed certs)
+        headers: Optional headers to send with the request (e.g., for auth)
+
+    Raises:
+        RuntimeError: If server does not respond after max_attempts
+
+    """
+    for attempt in range(max_attempts):
+        try:
+            response = requests.post(
+                f"{base_url}/mcp",
+                json={"jsonrpc": "2.0", "method": "ping", "id": 0},
+                timeout=timeout,
+                verify=verify,
+                headers=headers or {},
+            )
+            # Server is responding, we're ready
+            return
+        except (requests.exceptions.ConnectionError, requests.exceptions.Timeout):
+            if attempt == max_attempts - 1:
+                raise RuntimeError(
+                    f"Server at {base_url} did not start after {max_attempts * 0.1}s"
+                )
+            time.sleep(0.1)

robot_mcp_test/DEVELOPING.md

@@ -36,3 +36,8 @@ The `add_robot_mcp_test()` function automatically:
 - Links ROS dependencies (rclcpp, rclcpp_lifecycle)
 - Configures ament test registration
 - Sets up JUnit XML output
+
+The `add_robot_mcp_launch_test()` function automatically:
+- Links up test utility files within `test/launch_tests` directory of a project
+- Run the ROS `add_launch_test` function
+ 

robot_mcp_test/README.md

@@ -35,6 +35,8 @@ TEST_CASE_METHOD(robot_mcp::test::TestExecutorFixture, "My ROS Test", "[ros]") {
 
 ## CMake Usage
 
+### Catch2 Unit Tests
+
 ```cmake
 find_package(robot_mcp_test REQUIRED)
 
@@ -45,3 +47,44 @@ add_robot_mcp_test(my_test
     std_msgs::std_msgs
 )
 ```
+
+### Launch Tests
+
+```cmake
+find_package(robot_mcp_test REQUIRED)
+find_package(launch_testing_ament_cmake REQUIRED)
+
+add_robot_mcp_launch_test(test/launch_tests/test_example.py)
+```
+
+The `add_robot_mcp_launch_test()` macro automatically:
+- Wraps `add_launch_test()` from launch_testing_ament_cmake
+- Adds `test/launch_tests` to `PYTHONPATH` for importing shared utilities
+- Allows test files to import from `test_utils.py` for common test helpers
+
+**Example test_utils.py pattern:**
+
+```python
+# test/launch_tests/test_utils.py
+import time
+import requests
+
+def wait_for_server(base_url, max_attempts=50):
+    """Poll server until ready."""
+    for attempt in range(max_attempts):
+        try:
+            requests.post(f"{base_url}/health", timeout=0.5)
+            return
+        except (requests.exceptions.ConnectionError, requests.exceptions.Timeout):
+            if attempt == max_attempts - 1:
+                raise RuntimeError("Server did not start")
+            time.sleep(0.1)
+
+# test/launch_tests/test_my_server.py
+from test_utils import wait_for_server
+
+class TestMyServer(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        wait_for_server("http://localhost:8080")
+```

robot_mcp_test/cmake/add_robot_mcp_test.cmake

@@ -71,3 +71,18 @@ function(add_robot_mcp_test TEST_NAME TEST_SOURCE)
     WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
   )
 endfunction()
+
+#
+# Launch Test Function with test_utils support
+# Wraps add_launch_test to automatically add test/launch_tests to PYTHONPATH
+#
+# Usage:
+#   add_robot_mcp_launch_test(test/launch_tests/test_example.py)
+#
+macro(add_robot_mcp_launch_test filename)
+  add_launch_test(
+    ${filename}
+    ENV PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}/test/launch_tests:$ENV{PYTHONPATH}
+    ${ARGN}
+  )
+endmacro()