Merge branch 'feature/ci-action'

.github/workflows/ci-action.yml

@@ -1,3 +1,4 @@
+# From https://github.com/marketplace/actions/ros-2-ci-action
 name: CI Action
 
 on:
@@ -14,16 +15,42 @@ env:
 
 
 jobs:
-  unit-test:
+  ci-action:
     runs-on: ubuntu-latest
 
     steps:
-      - name: Install ROS
+      - name: Install ROS2 and dependencies
         uses: ros-tooling/[email protected]
         with:
           required-ros-distro: ${{ env.ROS_DISTRO }}
-      - name: Build and run tests
+
+      - name: Build and Run Tests
         uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
         with:
-          package_name: vortex-m3-sonar-driver
-          target-ros2-distros: ${{ env.ROS_DISTRO }}
+          package-name: vortex-m3-sonar-driver
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc", "coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
+              }
+            }
+            
+      - name: Upload Code Coverage Info
+        uses: codecov/[email protected]
+        with:
+          # token: ${{ secrets.CODECOV_TOKEN }}  # only needed for private repos
+          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
+          flags: unittests
+          name: codecov-umbrella
+
+      - name: Upload Test Results as Artifact
+        uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs
+          path: ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/log
+        if: always() # upload the logs even when the build fails

CMakeLists.txt

@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -fopenmp)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # Find dependencies
@@ -19,15 +19,15 @@ include_directories(include)
 # Create executable
 add_executable(${PROJECT_NAME}_main
     src/main.cpp
-    src/xml/m3CommandGenerator.cpp
-    src/xml/m3ResponseParser.cpp
+    src/api/m3CommandGenerator.cpp
+    src/api/m3ResponseParser.cpp
 )
 ament_target_dependencies(${PROJECT_NAME}_main
 )
 
 # Install the headers
 install(
-    DIRECTORY include/
+    DIRECTORY include
     DESTINATION include
 )
 
@@ -44,8 +44,8 @@ if(BUILD_TESTING)
     test/XmlCommandGeneratorTest.cpp
     test/XmlResponseParserTest.cpp
 
-    src/xml/m3CommandGenerator.cpp
-    src/xml/m3ResponseParser.cpp
+    src/api/m3CommandGenerator.cpp
+    src/api/m3ResponseParser.cpp
   )
   target_include_directories(${PROJECT_NAME}_test PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

include/api/api.hpp

@@ -0,0 +1,5 @@
+#pragma once
+
+// Header files for the xml library
+#include <api/m3CommandGenerator.hpp>
+#include <api/m3ResponseParser.hpp>

include/xml/m3CommandGenerator.hpp → include/api/m3CommandGenerator.hpp

@@ -2,7 +2,8 @@
 
 #include <string>
 
-namespace xml {
+namespace m3 {
+namespace api {
 namespace command {
 
 /**
@@ -102,4 +103,5 @@ std::string startExport();
 std::string stopExport();
 
 } // namespace command
-} // namespace xml
+} // namespace api
+} // namespace m3

include/xml/m3ResponseParser.hpp → include/api/m3ResponseParser.hpp

@@ -3,7 +3,8 @@
 #include <iostream>
 #include <string>
 
-namespace xml {
+namespace m3 {
+namespace api {
 
 /**
  * @brief Struct to hold the response from the sonar device
@@ -26,10 +27,13 @@ std::ostream &operator<<(std::ostream &os, ResponseInfo const &m);
 /**
  * @brief Parse the response from the sonar device
  *
- * @param response_input xml string response from the M3 sonar
- * @param parsed_response parsed response
- * @return int status of the response, see ResponseStatus enum
+ * @param response xml string response from the M3 sonar
+ * @return ResponseInfo parsed response
+ * @throw std::runtime_error if the response is invalid
+ * @throw std::runtime_error if the response is incomplete
+ * @throw rapidxml::parse_error if the response is not a valid XML
  */
 ResponseInfo parseResponse(const std::string &response);
 
-} // namespace xml
+} // namespace api
+} // namespace m3

src/xml/m3CommandGenerator.cpp → src/api/m3CommandGenerator.cpp

@@ -1,6 +1,7 @@
-#include <xml/m3CommandGenerator.hpp>
+#include <api/m3CommandGenerator.hpp>
 
-namespace xml {
+namespace m3 {
+namespace api {
 namespace command {
 
 std::string connect() { return "<Command>\n<Operation>Connect</Operation>\n</Command>\n"; }
@@ -38,4 +39,5 @@ std::string startExport() { return "<Command>\n<Operation>Start_Export</Operatio
 std::string stopExport() { return "<Command>\n<Operation>Stop_Export</Operation>\n</Command>\n"; }
 
 } // namespace command
-} // namespace xml
+} // namespace api
+} // namespace m3

src/xml/m3ResponseParser.cpp → src/api/m3ResponseParser.cpp

@@ -1,18 +1,10 @@
 #include <iostream>
 #include <rapidxml/rapidxml.hpp>
-#include <xml/m3ResponseParser.hpp>
-
-namespace xml {
-
-/**
- * @brief Parse the response from the sonar device
- *
- * @param response xml string response from the M3 sonar
- * @return ResponseInfo parsed response
- * @throw std::runtime_error if the response is invalid
- * @throw std::runtime_error if the response is incomplete
- * @throw rapidxml::parse_error if the response is not a valid XML
- */
+#include <api/m3ResponseParser.hpp>
+
+namespace m3 {
+namespace api{
+
 ResponseInfo parseResponse(const std::string &response)
 {
 	rapidxml::xml_document<> doc;
@@ -53,4 +45,5 @@ std::ostream &operator<<(std::ostream &os, ResponseInfo const &m)
 	          << "time: " << m.time << '\n';
 }
 
-} // namespace xml
+} // namespace api
+} // namespace m3

src/main.cpp

@@ -1,5 +1,5 @@
 #include <iostream>
-#include <xml/xml.hpp>
+#include <api/api.hpp>
 
 int main()
 {
@@ -12,7 +12,7 @@ int main()
 <Time>2023-09-28 18:03:21</Time>
 </Response>)";
 
-	xml::ResponseInfo result = xml::parseResponse(response);
+	m3::api::ResponseInfo result = m3::api::parseResponse(response);
 	std::cout << result << std::endl;
 
 	return 0;

test/XmlCommandGeneratorTest.cpp

@@ -1,35 +1,37 @@
 #include <gtest/gtest.h>
-#include <xml/m3CommandGenerator.hpp>
+#include <api/m3CommandGenerator.hpp>
 
-TEST(XmlCommandGenerator, Connect) { EXPECT_EQ(xml::command::connect(), std::string("<Command>\n<Operation>Connect</Operation>\n</Command>\n")); }
+using namespace m3::api::command;
 
-TEST(XmlCommandGenerator, Disconnect) { EXPECT_EQ(xml::command::disconnect(), std::string("<Command>\n<Operation>Disconnect</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, Connect) { EXPECT_EQ(connect(), std::string("<Command>\n<Operation>Connect</Operation>\n</Command>\n")); }
 
-TEST(XmlCommandGenerator, GetStatus) { EXPECT_EQ(xml::command::getStatus(), std::string("<Command>\n<Operation>Get_Status</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, Disconnect) { EXPECT_EQ(disconnect(), std::string("<Command>\n<Operation>Disconnect</Operation>\n</Command>\n")); }
+
+TEST(XmlCommandGenerator, GetStatus) { EXPECT_EQ(getStatus(), std::string("<Command>\n<Operation>Get_Status</Operation>\n</Command>\n")); }
 
 TEST(XmlCommandGenerator, SetMode)
 {
-	EXPECT_EQ(xml::command::setMode(0), std::string("<Command>\n<Operation>Set_Mode</Operation>\n<Mode>0</Mode>\n</Command>\n"));
-	EXPECT_EQ(xml::command::setMode(1), std::string("<Command>\n<Operation>Set_Mode</Operation>\n<Mode>1</Mode>\n</Command>\n"));
-	EXPECT_EQ(xml::command::setMode(2), std::string("<Command>\n<Operation>Set_Mode</Operation>\n<Mode>2</Mode>\n</Command>\n"));
+	EXPECT_EQ(setMode(0), std::string("<Command>\n<Operation>Set_Mode</Operation>\n<Mode>0</Mode>\n</Command>\n"));
+	EXPECT_EQ(setMode(1), std::string("<Command>\n<Operation>Set_Mode</Operation>\n<Mode>1</Mode>\n</Command>\n"));
+	EXPECT_EQ(setMode(2), std::string("<Command>\n<Operation>Set_Mode</Operation>\n<Mode>2</Mode>\n</Command>\n"));
 }
 
 TEST(XmlCommandGenerator, SetTVG)
 {
-	EXPECT_EQ(xml::command::setTVG(0, 0, 0, 0),
+	EXPECT_EQ(setTVG(0, 0, 0, 0),
 	          std::string("<Command>\n<Operation>Set_TVG</Operation>\n<TVG_A>0</TVG_A>\n<TVG_B>0</TVG_B>\n<TVG_C>0</TVG_C>\n<TVG_L>0</TVG_L>\n</Command>\n"));
-	EXPECT_EQ(xml::command::setTVG(1, 2, 3, 4),
+	EXPECT_EQ(setTVG(1, 2, 3, 4),
 	          std::string("<Command>\n<Operation>Set_TVG</Operation>\n<TVG_A>1</TVG_A>\n<TVG_B>2</TVG_B>\n<TVG_C>3</TVG_C>\n<TVG_L>4</TVG_L>\n</Command>\n"));
 }
 
-TEST(XmlCommandGenerator, StopPing) { EXPECT_EQ(xml::command::stopPing(), std::string("<Command>\n<Operation>Stop_Ping</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, StopPing) { EXPECT_EQ(stopPing(), std::string("<Command>\n<Operation>Stop_Ping</Operation>\n</Command>\n")); }
 
-TEST(XmlCommandGenerator, StartPing) { EXPECT_EQ(xml::command::startPing(), std::string("<Command>\n<Operation>Start_Ping</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, StartPing) { EXPECT_EQ(startPing(), std::string("<Command>\n<Operation>Start_Ping</Operation>\n</Command>\n")); }
 
-TEST(XmlCommandGenerator, StartRecord) { EXPECT_EQ(xml::command::startRecord(), std::string("<Command>\n<Operation>Start_Record</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, StartRecord) { EXPECT_EQ(startRecord(), std::string("<Command>\n<Operation>Start_Record</Operation>\n</Command>\n")); }
 
-TEST(XmlCommandGenerator, StopRecord) { EXPECT_EQ(xml::command::stopRecord(), std::string("<Command>\n<Operation>Stop_Record</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, StopRecord) { EXPECT_EQ(stopRecord(), std::string("<Command>\n<Operation>Stop_Record</Operation>\n</Command>\n")); }
 
-TEST(XmlCommandGenerator, StartExport) { EXPECT_EQ(xml::command::startExport(), std::string("<Command>\n<Operation>Start_Export</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, StartExport) { EXPECT_EQ(startExport(), std::string("<Command>\n<Operation>Start_Export</Operation>\n</Command>\n")); }
 
-TEST(XmlCommandGenerator, StopExport) { EXPECT_EQ(xml::command::stopExport(), std::string("<Command>\n<Operation>Stop_Export</Operation>\n</Command>\n")); }
+TEST(XmlCommandGenerator, StopExport) { EXPECT_EQ(stopExport(), std::string("<Command>\n<Operation>Stop_Export</Operation>\n</Command>\n")); }

test/XmlResponseParserTest.cpp

@@ -1,6 +1,6 @@
 #include <gtest/gtest.h>
 #include <rapidxml/rapidxml.hpp>
-#include <xml/m3ResponseParser.hpp>
+#include <api/m3ResponseParser.hpp>
 
 TEST(XmlResponseParser, ParseGetStatusResponseWithValidXml)
 {
@@ -13,7 +13,7 @@ TEST(XmlResponseParser, ParseGetStatusResponseWithValidXml)
 <Time>2016-09-13 15:22:21</Time>
 </Response>)";
 
-	xml::ResponseInfo result = xml::parseResponse(response);
+	m3::api::ResponseInfo result = m3::api::parseResponse(response);
 
 	EXPECT_EQ(result.operation, "Get_Status");
 	EXPECT_EQ(result.status, "OK");
@@ -27,7 +27,7 @@ TEST(XmlResponseParser, ParseGetStatusResponseWithInvalidXml)
 	std::string response = R"(Invalid XML)";
 
 	try {
-		xml::ResponseInfo result = xml::parseResponse(response);
+		m3::api::ResponseInfo result = m3::api::parseResponse(response);
 		FAIL() << "Expected rapidxml::parse_error";
 	}
 	catch (const rapidxml::parse_error &e) {
@@ -47,7 +47,7 @@ TEST(XmlResponseParser, ParseGetStatusResponseWithInvalidResponse)
 </NoResponse>)";
 
 	try {
-		xml::ResponseInfo result = xml::parseResponse(response);
+		m3::api::ResponseInfo result = m3::api::parseResponse(response);
 		FAIL() << "Expected std::runtime_error";
 	}
 	catch (const std::runtime_error &e) {
@@ -65,7 +65,7 @@ TEST(XmlResponseParser, ParseGetStatusResponseWithIncompleteResponse)
 </Response>)";
 
 	try {
-		xml::ResponseInfo result = xml::parseResponse(response);
+		m3::api::ResponseInfo result = m3::api::parseResponse(response);
 		FAIL() << "Expected std::runtime_error";
 	}
 	catch (const std::runtime_error &e) {