Polish tests

Signed-off-by: Eugenio Collado <eugeniocollado@eprosima.com>

Author: EugenioCollado

ddsenabler/examples/action/goals/1

@@ -1,3 +1,3 @@
 {
-    "order": 3
+    "order": 5
 }

ddsenabler/examples/action/goals/2

@@ -1,3 +1,3 @@
 {
-    "order": 5
+    "order": 6
 }

ddsenabler/examples/service/main.cpp

@@ -367,7 +367,24 @@ bool server_specific_logic(
         uint64_t request_id)
 {
     std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Simulate processing time
-    std::string json = "{\"sum\": 3}"; // Example response, replace with actual logic
+
+    // Add_two_ints service logic
+    int a = 1; // Default values in case of parsing failure
+    int b = 2; // Default values in case of parsing failure
+    try
+    {
+        auto request_json = nlohmann::json::parse(request);
+        a = request_json["rq/add_two_intsRequest"]["data"]["0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0"]["a"].get<int>();
+        b = request_json["rq/add_two_intsRequest"]["data"]["0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0"]["b"].get<int>();
+    }
+    catch (const std::exception& e)
+    {
+        std::cerr << "Failed to parse request JSON: " << e.what() << " Using default values a=1, b=2." << std::endl;
+    }
+    nlohmann::json response_json;
+    response_json["sum"] = a + b;
+    std::string json = response_json.dump();
+
     if (!enabler->send_service_reply(service_name, json, request_id))
     {
         std::cerr << "Failed to send service reply for request ID: " << request_id << std::endl;

ddsenabler/test/DDSEnablerTester.hpp

@@ -13,6 +13,9 @@
 // limitations under the License.
 
 #include <mutex>
+#include <algorithm>
+#include <filesystem>
+
 
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
@@ -49,8 +52,8 @@ static int write_delay_ms_ =  20;
 static int wait_for_ack_ns_ =  1000000000;
 static int wait_after_publication_ms_ =  200;
 
-const auto input_file_path = std::filesystem::current_path() / "test_files";
-auto persistence_dir = input_file_path.string();
+static const auto input_file_path = std::filesystem::current_path() / "test_files";
+static std::string persistence_dir = input_file_path.string();
 #if defined(_WIN32) // On windows, the path separator is '\'
 std::replace(persistence_dir.begin(), persistence_dir.end(), '/', '\\');
 #endif // _WIN32

ddsenabler_test/compose/scripts/execute_and_validate_action_client.py

@@ -0,0 +1,187 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# 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.
+
+import argparse
+import re
+from typing import List, Tuple
+
+import log
+
+import validation
+
+DESCRIPTION = """Script to validate Fibonacci action client output"""
+USAGE = ('python3 execute_and_validate_action_client.py '
+         '[-s <samples>] [-t <timeout>] [-e <exe>] [--delay <sec>] [-d]')
+
+
+def parse_options():
+    """
+    Parse arguments.
+
+    :return: The arguments parsed.
+    """
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        add_help=True,
+        description=(DESCRIPTION),
+        usage=(USAGE)
+    )
+    parser.add_argument(
+        '-s',
+        '--samples',
+        type=int,
+        default=3,
+        help='Number of goal requests to send/expect.'
+    )
+    parser.add_argument(
+        '-t',
+        '--timeout',
+        type=int,
+        default=20,
+        help='Timeout for the action client application.'
+    )
+    parser.add_argument(
+        '-e',
+        '--exe',
+        type=str,
+        default='/scripts/ros2_nodes/node_main.py',
+        help='Path to the action client executable (python entrypoint).'
+    )
+    parser.add_argument(
+        '--delay',
+        type=float,
+        default=0,
+        help='Time to wait before starting execution.'
+    )
+    parser.add_argument(
+        '-d',
+        '--debug',
+        action='store_true',
+        help='Print test debugging info.'
+    )
+
+    return parser.parse_args()
+
+
+def _client_command(args):
+    """
+    Build the command to execute the client.
+
+    :param args: Arguments parsed
+    :return: Command to execute the client
+    """
+    command = [
+        'python3', args.exe,
+        '--action',
+        '--client',
+        '--samples', str(args.samples)
+    ]
+
+    return command
+
+
+# ------------------------- Parsing & Validation ------------------------- #
+
+def _extract_number_sequences_from_line(line: str) -> List[int]:
+    """Extract a list of ints from a line, supporting formats like:
+    - Result { 0,1,1,2 }
+    - Result: [0, 1, 1, 2]
+    - result -> 0 1 1 2
+    The function returns the first reasonable list of ints found.
+    """
+    # Prefer content inside brackets or braces
+    for opening, closing in [("[", "]"), ("{", "}")]:
+        if opening in line and closing in line:
+            content = line.split(opening, 1)[1].split(closing, 1)[0]
+            nums = re.findall(r"-?\d+", content)
+            return [int(n) for n in nums]
+
+    # Otherwise, extract from the tail of the line
+    tail = line.split(':', 1)[-1]
+    nums = re.findall(r"-?\d+", tail)
+    return [int(n) for n in nums]
+
+
+def _client_parse_output(stdout: str, stderr: str) -> Tuple[List[List[int]], str]:
+    """
+    Transform the output of the program into a list of Fibonacci sequences.
+
+    We look for lines containing the word 'Result' (case-insensitive) and
+    extract number sequences from them. Each sequence corresponds to one goal.
+    """
+    lines = stdout.splitlines()
+
+    sequences: List[List[int]] = []
+    for line in lines:
+        if 'result' in line.lower():
+            seq = _extract_number_sequences_from_line(line)
+            if len(seq) >= 2:  # minimal Fibonacci
+                sequences.append(seq)
+
+    return sequences, stderr
+
+
+def _is_fibonacci(seq: List[int]) -> bool:
+    """Check that a sequence is a valid Fibonacci progression starting at 0, 1."""
+    if len(seq) < 2:
+        return False
+    if not (seq[0] == 0 and seq[1] == 1):
+        return False
+    for i in range(2, len(seq)):
+        if seq[i] != seq[i - 1] + seq[i - 2]:
+            return False
+    return True
+
+
+def _client_validate(stdout_parsed: List[List[int]], stderr_parsed: str):
+    # First apply the default validator
+    ret_code = validation.validate_default(stdout_parsed, stderr_parsed)
+    if ret_code != validation.ReturnCode.SUCCESS:
+        return ret_code
+
+    # Ensure we have at least one sequence
+    if len(stdout_parsed) == 0:
+        log.logger.error('No result sequences were found in client output.')
+        return validation.ReturnCode.NOT_VALID_MESSAGES
+
+    # Validate each result sequence as Fibonacci
+    for seq in stdout_parsed:
+        if not _is_fibonacci(seq):
+            log.logger.error(f'Non-Fibonacci sequence detected: {seq}')
+            return validation.ReturnCode.NOT_VALID_MESSAGES
+
+    return ret_code
+
+
+if __name__ == '__main__':
+
+    # Parse arguments
+    args = parse_options()
+
+    # Set log level
+    if args.debug:
+        log.activate_debug()
+
+    command = _client_command(args)
+
+    ret_code = validation.run_and_validate(
+        command=command,
+        timeout=args.timeout,
+        delay=args.delay,
+        parse_output_function=_client_parse_output,
+        validate_output_function=_client_validate)
+
+    log.logger.info(f'Action client validator exited with code {ret_code}')
+
+    exit(ret_code.value)

ddsenabler_test/compose/scripts/execute_and_validate_action_server.py

@@ -0,0 +1,121 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# 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.
+
+import argparse
+
+import log
+
+import validation
+
+DESCRIPTION = """Script to validate Fibonacci action server output"""
+USAGE = ('python3 execute_and_validate_action_server.py '
+         '[-s <samples>] [--expect-cancel] [-t <timeout>] [-e <exe>] [--delay <sec>] [-d]')
+
+
+def parse_options():
+    """
+    Parse arguments.
+
+    :return: The arguments parsed.
+    """
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        add_help=True,
+        description=(DESCRIPTION),
+        usage=(USAGE)
+    )
+    parser.add_argument(
+        '-s',
+        '--samples',
+        type=int,
+        default=3,
+        help='Number of goals the server must process before exiting.'
+    )
+    parser.add_argument(
+        '--expect-cancel',
+        action='store_true',
+        help='Expect goals to be cancelled; count cancellations towards samples.'
+    )
+    parser.add_argument(
+        '-t',
+        '--timeout',
+        type=int,
+        default=20,
+        help='Timeout for the action server application.'
+    )
+    parser.add_argument(
+        '-e',
+        '--exe',
+        type=str,
+        default='/scripts/ros2_nodes/node_main.py',
+        help='Path to the action server executable (python entrypoint).'
+    )
+    parser.add_argument(
+        '--delay',
+        type=float,
+        default=0,
+        help='Time to wait before starting execution.'
+    )
+    parser.add_argument(
+        '-d',
+        '--debug',
+        action='store_true',
+        help='Print test debugging info.'
+    )
+
+    return parser.parse_args()
+
+
+def _server_command(args):
+    """
+    Build the command to execute the server.
+
+    :param args: Arguments parsed
+    :return: Command to execute the server
+    """
+    command = [
+        'python3', args.exe,
+        '--action',
+        '--samples', str(args.samples)
+    ]
+    if args.expect_cancel:
+        command.append('--expect-cancel')
+
+    return command
+
+
+if __name__ == '__main__':
+
+    # Parse arguments
+    args = parse_options()
+
+    # Set log level
+    if args.debug:
+        log.activate_debug()
+
+    command = _server_command(args)
+
+    # Check process exits after serving the expected goals and stderr is empty
+    ret_code = validation.run_and_validate(
+        command=command,
+        timeout=args.timeout,
+        delay=args.delay,
+        parse_output_function=validation.parse_default,
+        validate_output_function=validation.validate_default,
+        timeout_as_error=True
+    )
+
+    log.logger.info(f'Action server validator exited with code {ret_code}')
+
+    exit(ret_code.value)