Add tests for mapek_framework components (#14)

* Add test suite skeleton

* Add `Group` tests

* Fix assert_called() AttributeError

* Interaction TestCase

* Update test dependecies

* ManagedSystem TestCase

* MapeElement TestSuite

* Ticker TestCase

mapek_framework/CMakeLists.txt

@@ -199,4 +199,6 @@ catkin_install_python(
 # endif()
 
 ## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_nosetests(src/test_mapek_framework/run_tests.py)
+endif()

mapek_framework/package.xml

@@ -9,13 +9,21 @@
   <author email="a.cattaneo20@studenti.unibg.it">Andrea Cattaneo</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>rostest</build_depend>
+
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
+
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
+  <test_depend>rospy</test_depend>
+  <test_depend>std_msgs</test_depend>  
+  <test_depend>python-mock</test_depend>
+
   <export>
   </export>
 </package>

mapek_framework/src/test_mapek_framework/run_tests.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+import unittest
+import rosunit
+from .test_group import GroupTestCase
+from .test_interaction import InteractionTestCase
+from .test_managed_system import ManagedSystemTestCase
+from .test_mape_element import MapeElementTestCase
+from .test_ticker import TickerTestCase
+
+
+if __name__ == '__main__':
+    rosunit.unitrun('test_mapek_framework',
+                    'test_group_mapek_framework', GroupTestCase)
+    rosunit.unitrun('test_mapek_framework',
+                    'test_interaction_mapek_framework', InteractionTestCase)
+    rosunit.unitrun('test_mapek_framework',
+                    'test_managed_system_mapek_framework', ManagedSystemTestCase)
+    rosunit.unitrun('test_mapek_framework',
+                    'test_mape_element_mapek_framework', MapeElementTestCase)
+    rosunit.unitrun('test_mapek_framework',
+                    'test_ticker_mapek_framework', TickerTestCase)

mapek_framework/src/test_mapek_framework/test_group.py

@@ -0,0 +1,41 @@
+import unittest
+import mock
+from mapek_framework import Group
+
+
+class GroupTestCase(unittest.TestCase):
+
+    @mock.patch('rospy.spin')
+    @mock.patch('rospy.init_node')
+    def test_group_spin(self, mock_init_node, mock_spin):
+        node_name = 'test_node'
+
+        mock_monitor_element = mock.Mock()
+        mock_analyze_element = mock.Mock()
+        mock_plan_element = mock.Mock()
+        mock_execute_element = mock.Mock()
+
+        knowledge_instance = {}
+        managed_system_instance = None
+
+        class MyGroup(Group):
+            elements = [
+                mock_monitor_element,
+                mock_analyze_element,
+                mock_plan_element,
+                mock_execute_element
+            ]
+            knowledge = knowledge_instance
+            managed_system = managed_system_instance
+
+        my_group_instance = MyGroup(node_name)
+        self.assertEqual(mock_init_node.call_count, 1)
+        self.assertEqual(mock_spin.call_count, 0)
+        mock_monitor_element.assert_called_with(knowledge_instance, managed_system_instance)
+        mock_analyze_element.assert_called_with(knowledge_instance, managed_system_instance)
+        mock_plan_element.assert_called_with(knowledge_instance, managed_system_instance)
+        mock_execute_element.assert_called_with(knowledge_instance, managed_system_instance)
+
+        my_group_instance.spin()
+        self.assertEqual(mock_init_node.call_count, 1)
+        self.assertEqual(mock_spin.call_count, 1)

mapek_framework/src/test_mapek_framework/test_interaction.py

@@ -0,0 +1,14 @@
+import unittest
+from std_msgs.msg import Empty
+from mapek_framework import Interaction
+
+
+class InteractionTestCase(unittest.TestCase):
+
+    def test_interaxction_fields(self):
+        name = 'foo'
+        data_class = Empty
+
+        interaction_instance = Interaction(name, data_class)
+        self.assertEqual(interaction_instance.name, name)
+        self.assertEqual(interaction_instance.data_class, data_class)

mapek_framework/src/test_mapek_framework/test_managed_system.py

@@ -0,0 +1,6 @@
+import unittest
+from mapek_framework import ManagedSystem
+
+class ManagedSystemTestCase(unittest.TestCase):
+    pass
+

mapek_framework/src/test_mapek_framework/test_mape_element.py

@@ -0,0 +1,12 @@
+import unittest
+import mock
+from mapek_framework.mape_element import _MapeElement, MonitorElement, AnalyzeElement, PlanElement, ExecuteElement
+
+
+class MapeElementTestCase(unittest.TestCase):
+
+    def test_mape_element_inheritance(self):
+        self.assertTrue(issubclass(MonitorElement, _MapeElement))
+        self.assertTrue(issubclass(AnalyzeElement, _MapeElement))
+        self.assertTrue(issubclass(PlanElement, _MapeElement))
+        self.assertTrue(issubclass(ExecuteElement, _MapeElement))

mapek_framework/src/test_mapek_framework/test_ticker.py

@@ -0,0 +1,15 @@
+import unittest
+from mapek_framework import Ticker
+
+
+class TickerTestCase(unittest.TestCase):
+
+    def test_ticker_init(self):
+        node_name = 'foo_name'
+        topic = 'foo_topic'
+        rate = 42
+
+        ticker_instance = Ticker(node_name, topic, rate)
+        self.assertEqual(ticker_instance._node_name, node_name)
+        self.assertEqual(ticker_instance._topic, topic)
+        self.assertEqual(ticker_instance._rate, rate)