mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-04-20 11:51:16 -05:00
fix a handful of oversights in the anchor refactor. add a testing script
This commit is contained in:
ryleu
447
scripts/test-connectors.bash
Executable file
447
scripts/test-connectors.bash
Executable file
@@ -0,0 +1,447 @@
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#!/usr/bin/env bash
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# test script for anchor connectors (mock, serial, CAN)
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set -o pipefail
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repo_root="$(git rev-parse --show-toplevel)"
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if [[ -z $repo_root ]]; then
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echo "script must be run from within the rover-ros2 repo" >&2
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exit 1
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fi
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cd "$repo_root"
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BOLD='\033[1m'
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RED='\033[1;31m'
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GREEN='\033[1;32m'
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YELLOW='\033[1;33m'
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NC='\033[0m'
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TESTS_PASSED=0
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TESTS_FAILED=0
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log() {
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echo -e "${BOLD}${YELLOW}info:${NC} ${1}"
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}
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pass() {
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echo -e "${BOLD}${GREEN}pass:${NC} ${1}"
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TESTS_PASSED=$((TESTS_PASSED + 1))
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}
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fail() {
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echo -e "${BOLD}${RED}fail:${NC} ${1}"
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TESTS_FAILED=$((TESTS_FAILED + 1))
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}
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cleanup() {
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log "cleaning up"
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if [[ -n $ANCHOR_PID ]]; then
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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wait "$ANCHOR_PID" 2>/dev/null || true
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fi
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if [[ -n $SOCAT_PID ]]; then
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kill -INT "$SOCAT_PID" 2>/dev/null || true
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wait "$SOCAT_PID" 2>/dev/null || true
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fi
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rm -f /tmp/ttyACM9 /tmp/ttyOUT 2>/dev/null || true
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}
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trap cleanup EXIT
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source_ros2() {
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source install/setup.bash
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}
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wait_for_topic() {
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local topic="$1"
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local timeout="${2:-5}"
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local count=0
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while ! ros2 topic list 2>/dev/null | grep -q "^${topic}$"; do
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sleep 0.5
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count=$((count + 1))
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if [[ $count -ge $((timeout * 2)) ]]; then
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return 1
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fi
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done
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return 0
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}
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test_mock_connector() {
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log "testing mock connector"
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log "starting anchor with mock connector"
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setsid ros2 run anchor_pkg anchor --ros-args -p connector:=mock &
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ANCHOR_PID=$!
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sleep 2
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if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
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fail "mock connector: anchor failed to start"
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return 1
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fi
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if ! wait_for_topic "/anchor/to_vic/relay" 10; then
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fail "mock connector: topics not available"
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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return 1
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fi
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log "anchor started successfully"
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# relay -> debug
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log "testing relay -> debug"
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local debug_output
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debug_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/to_vic/debug &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 50, data: [1.0, 2.0, 3.0, 4.0]}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n "$debug_output" ]] && echo "$debug_output" | grep -q "can_relay_tovic,core,50"; then
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pass "mock connector: relay -> debug"
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else
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fail "mock connector: relay -> debug"
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fi
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# mock_mcu -> from_vic/core
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log "testing mock_mcu (core) -> from_vic/core"
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local core_output=""
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core_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 10, data: [100.0, 200.0]}" >/dev/null 2>&1 || true
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wait $ECHO_PID || true
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' 2>/dev/null || true) || core_output=""
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if [[ -n "$core_output" ]] && echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 10"; then
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pass "mock connector: mock_mcu -> from_vic/core"
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else
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fail "mock connector: mock_mcu -> from_vic/core"
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fi
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# mock_mcu -> from_vic/arm
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log "testing mock_mcu (arm) -> from_vic/arm"
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local arm_output
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arm_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/arm &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"arm\", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n "$arm_output" ]] && echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 55"; then
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pass "mock connector: mock_mcu -> from_vic/arm"
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else
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fail "mock connector: mock_mcu -> from_vic/arm"
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fi
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# mock_mcu -> from_vic/bio
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log "testing mock_mcu (citadel) -> from_vic/bio"
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local bio_output
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bio_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/bio &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"citadel\", command_id: 20, data: [5.0]}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$bio_output" | grep -q "mcu_name: citadel" && echo "$bio_output" | grep -q "command_id: 20"; then
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pass "mock connector: mock_mcu -> from_vic/bio"
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else
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fail "mock connector: mock_mcu -> from_vic/bio"
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fi
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# relay_string -> debug
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log "testing relay_string -> debug"
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local relay_string_output
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relay_string_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/to_vic/debug &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay_string std_msgs/msg/String "{data: \"test_raw_string_data\"}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n "$relay_string_output" ]] && echo "$relay_string_output" | grep -q "test_raw_string_data"; then
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pass "mock connector: relay_string -> debug"
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else
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fail "mock connector: relay_string -> debug"
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fi
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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wait "$ANCHOR_PID" 2>/dev/null || true
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ANCHOR_PID=""
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}
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test_serial_connector() {
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log "testing serial connector"
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log "creating virtual serial ports with socat"
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socat pty,raw,echo=0,link=/tmp/ttyACM9 pty,raw,echo=0,link=/tmp/ttyOUT 2>/dev/null &
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SOCAT_PID=$!
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sleep 2
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if ! kill -0 "$SOCAT_PID" 2>/dev/null; then
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fail "serial connector: failed to create virtual serial ports"
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return 1
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fi
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log "starting anchor with serial connector (override: /tmp/ttyACM9)"
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setsid ros2 run anchor_pkg anchor --ros-args -p connector:=serial -p serial_override:=/tmp/ttyACM9 &
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ANCHOR_PID=$!
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sleep 2
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if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
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fail "serial connector: anchor failed to start"
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kill -INT "$SOCAT_PID" 2>/dev/null || true
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return 1
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fi
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if ! wait_for_topic "/anchor/to_vic/relay" 10; then
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fail "serial connector: topics not available"
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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kill -INT "$SOCAT_PID" 2>/dev/null || true
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return 1
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fi
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pass "serial connector: anchor starts with virtual serial"
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# relay_string -> debug
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log "testing relay_string -> debug"
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local relay_string_output
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relay_string_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/to_vic/debug &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay_string std_msgs/msg/String "{data: \"serial_test_string\"}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n "$relay_string_output" ]] && echo "$relay_string_output" | grep -q "serial_test_string"; then
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pass "serial connector: relay_string -> debug"
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else
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fail "serial connector: relay_string -> debug"
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fi
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log "serial data transfer tests skipped (virtual pty limitation)"
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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wait "$ANCHOR_PID" 2>/dev/null || true
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ANCHOR_PID=""
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kill -INT "$SOCAT_PID" 2>/dev/null || true
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wait "$SOCAT_PID" 2>/dev/null || true
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SOCAT_PID=""
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}
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test_can_connector() {
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log "testing CAN connector"
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log "starting anchor with CAN connector (override: vcan0)"
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setsid ros2 run anchor_pkg anchor --ros-args -p connector:=can -p can_override:=vcan0 &
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ANCHOR_PID=$!
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sleep 2
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if ! kill -0 "$ANCHOR_PID" 2>/dev/null; then
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fail "CAN connector: anchor failed to start"
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return 1
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fi
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if ! wait_for_topic "/anchor/to_vic/relay" 10; then
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fail "CAN connector: topics not available"
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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return 1
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fi
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log "anchor started successfully"
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sleep 1
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# relay -> CAN bus
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log "testing relay -> CAN bus"
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local can_output
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can_output=$(timeout 8 bash -c '
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candump -n 1 vcan0 &
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DUMP_PID=$!
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sleep 1
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
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wait $DUMP_PID
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' 2>/dev/null) || true
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# core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
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if echo "$can_output" | grep -qi "19E"; then
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pass "CAN connector: relay -> CAN bus"
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else
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fail "CAN connector: relay -> CAN bus (got: $can_output)"
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fi
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# CAN -> from_vic/core
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log "testing CAN bus -> from_vic/core"
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local core_output
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core_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
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sleep 1
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cansend vcan0 18F#000A0014001E0028
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sleep 0.5
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cansend vcan0 18F#000A0014001E0028
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 15"; then
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pass "CAN connector: CAN -> from_vic/core"
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else
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fail "CAN connector: CAN -> from_vic/core"
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fi
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# CAN -> from_vic/arm
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log "testing CAN bus -> from_vic/arm"
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local arm_output
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arm_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/arm &
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ECHO_PID=$!
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sleep 1
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cansend vcan0 294#00640096012C01F4
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sleep 0.5
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cansend vcan0 294#00640096012C01F4
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 20"; then
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pass "CAN connector: CAN -> from_vic/arm"
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else
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fail "CAN connector: CAN -> from_vic/arm"
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fi
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# double data type
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log "testing CAN double data type"
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local double_output
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double_output=$(timeout 8 bash -c '
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ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
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sleep 1
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cansend vcan0 105#3FF0000000000000
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sleep 0.5
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cansend vcan0 105#3FF0000000000000
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sleep 0.5
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cansend vcan0 105#3FF0000000000000
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$double_output" | grep -q "mcu_name: core" && echo "$double_output" | grep -q "command_id: 5"; then
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pass "CAN connector: double data type"
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else
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fail "CAN connector: double data type"
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fi
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# float32x2 data type
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log "testing CAN float32x2 data type"
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local float_output
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float_output=$(timeout 8 bash -c '
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ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
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sleep 1
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cansend vcan0 14A#3F80000040000000
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sleep 0.5
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cansend vcan0 14A#3F80000040000000
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sleep 0.5
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cansend vcan0 14A#3F80000040000000
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$float_output" | grep -q "mcu_name: core" && echo "$float_output" | grep -q "command_id: 10"; then
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pass "CAN connector: float32x2 data type"
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else
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fail "CAN connector: float32x2 data type"
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fi
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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wait "$ANCHOR_PID" 2>/dev/null || true
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ANCHOR_PID=""
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}
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check_prerequisites() {
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log "checking prerequisites"
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local missing=0
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if [[ ! -f install/setup.bash ]]; then
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fail "install/setup.bash not found; run 'colcon build' first"
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missing=1
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fi
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if ! command -v socat &>/dev/null; then
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fail "socat not found; install it or use 'nix develop'"
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missing=1
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fi
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if ! command -v cansend &>/dev/null || ! command -v candump &>/dev/null; then
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fail "can-utils (cansend/candump) not found; install it or use 'nix develop'"
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missing=1
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fi
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if ! ip link show vcan0 &>/dev/null; then
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fail "vcan0 interface not found"
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log " create it with:"
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log " sudo ip link add dev vcan0 type vcan"
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log " sudo ip link set vcan0 up"
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missing=1
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elif ! ip link show vcan0 | grep -q ",UP"; then
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fail "vcan0 exists but is not UP"
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log " enable it with: sudo ip link set vcan0 up"
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missing=1
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fi
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if [[ $missing -eq 1 ]]; then
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echo ""
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log "prerequisites not met"
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exit 1
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fi
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log "all prerequisites met"
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}
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main() {
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echo ""
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log "anchor connector test suite"
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echo ""
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check_prerequisites
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log "sourcing ROS2 workspace"
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source_ros2
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test_mock_connector
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test_serial_connector
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test_can_connector
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echo ""
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log "test summary"
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echo -e "${BOLD}${GREEN}passed:${NC} $TESTS_PASSED"
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echo -e "${BOLD}${RED}failed:${NC} $TESTS_FAILED"
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echo ""
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if [[ $TESTS_FAILED -gt 0 ]]; then
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exit 1
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fi
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exit 0
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}
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main "$@"
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