add unit testing

Author: kenoi1

.github/templates/test/action.yml

@@ -0,0 +1,18 @@
+name: Docker test
+
+inputs:
+  image:
+    description: "monorepo image to test"
+    required: true
+  tag:
+    description: "monorepo image tag to test"
+    required: true
+
+runs: 
+  using: "composite"
+  steps:
+    - run: ${{ github.action_path }}/test_image.sh
+      shell: bash
+      env:
+        IMAGE: ${{ inputs.image }}
+        TAG: ${{ inputs.tag }}

.github/templates/test/test_image.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+set -e
+
+docker pull -q $IMAGE:$TAG
+docker run $IMAGE:$TAG /bin/bash -c "source /home/bolty/ament_ws/install/setup.bash; colcon test; colcon test-result --verbose"

.github/workflows/build_test.yml

@@ -16,24 +16,38 @@ jobs:
 
     outputs:
       docker_matrix: ${{ steps.docker-environment.outputs.docker_matrix }}
+      source_branch: ${{ steps.github-environment.outputs.source_branch }}
+      target_branch: ${{ steps.github-environment.outputs.target_branch }}
 
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v4
 
+      - name: Setup Watod Environment
+        run: |
+          MODULES_DIR="$GITHUB_WORKSPACE/modules"
+          . ./watod_scripts/watod-setup-env.sh
+        shell: bash
+
       - name: Generate Docker Environment
         id: docker-environment
         run: |
-          # Create static matrix for F1TENTH services (single line JSON)
           matrix='{"include":[{"service":"robot","dockerfile":"docker/robot/robot.Dockerfile","compose_file":"modules/docker-compose.robot.yaml"},{"service":"sim","dockerfile":"docker/sim/sim.Dockerfile","compose_file":"modules/docker-compose.sim.yaml"},{"service":"vis_tools","dockerfile":"docker/vis_tools/foxglove.Dockerfile","compose_file":"modules/docker-compose.vis_tools.yaml"},{"service":"samples","dockerfile":"docker/samples/py_producer.Dockerfile","compose_file":"modules/docker-compose.samples.yaml"}]}'
           echo "docker_matrix=$matrix" >> $GITHUB_OUTPUT
 
+      - name: Generate GitHub Environment
+        id: github-environment
+        uses: "./.github/templates/github_context"
+
   build-and-unittest:
     name: Build/Test
     runs-on: ubuntu-latest
     needs: setup-environment
 
     env:
+      SOURCE_BRANCH: ${{ needs.setup-environment.outputs.source_branch }}
+      TARGET_BRANCH: ${{ needs.setup-environment.outputs.target_branch }}
+
       SAMPLES_PRODUCER_IMAGE: "samples-producer:latest"
       SAMPLES_TRANSFORMER_IMAGE: "samples-transformer:latest" 
       SAMPLES_AGGREGATOR_IMAGE: "samples-aggregator:latest"
@@ -61,18 +75,27 @@ jobs:
 
       - name: Build Image from Source
         run: |
-          # Build using Docker Compose with all env vars available
           docker compose -f ${{ matrix.compose_file }} build
         env:
           DOCKER_BUILDKIT: 1
           COMPOSE_DOCKER_CLI_BUILD: 1
           BUILDKIT_INLINE_CACHE: 1
 
+      - name: Run testing suite
+        uses: "./.github/templates/test"
+        env:
+          DOCKER_BUILDKIT: 1
+          COMPOSE_DOCKER_CLI_BUILD: 1
+          BUILDKIT_INLINE_CACHE: 1
+        with:
+          image: ${{ matrix.service }}
+          tag: "latest"
+
   confirm-build-and-unittest-complete:
-    name: Check Build/Test Completion
+    name: Confirm Build and Unit Tests Completed
     needs: build-and-unittest
     runs-on: ubuntu-latest
     steps:
       - name: Ending
         run: |
-          echo "all builds and unit tests completed."
+          echo "::notice:: All builds and unit tests completed!"

src/robot/gym_vis/CMakeLists.txt

@@ -48,5 +48,25 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+# add testing dependencies
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  
+  ament_add_gtest(${PROJECT_NAME}_test
+    test/test_gym_vis.cpp
+  )
+  
+  target_include_directories(${PROJECT_NAME}_test PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+  
+  target_link_libraries(${PROJECT_NAME}_test
+    ${PROJECT_NAME}
+  )
+  
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 
 ament_package()

src/robot/gym_vis/package.xml

@@ -11,6 +11,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>

src/robot/gym_vis/test/test_gym_vis.cpp

@@ -0,0 +1,18 @@
+#include "gtest/gtest.h"
+#include "../src/gym_vis.cpp"
+#include <rclcpp/rclcpp.hpp>
+
+TEST(GymVisTest, MakeNode) {
+    rclcpp::init(0, nullptr);
+    auto node = std::make_shared<GymVis>();
+    EXPECT_EQ(node->get_name(), std::string("gym_vis"));
+    rclcpp::shutdown();
+}
+
+TEST(GymVisTest, HasPublishers) {
+    rclcpp::init(0, nullptr);
+    auto node = std::make_shared<GymVis>();
+    auto publishers = node->get_publishers_info_by_topic("f1tenth_car");
+    EXPECT_FALSE(publishers.empty());
+    rclcpp::shutdown();
+}