add support for python-based coverage (#18)

some parts from https://github.com/PilzDE/pilz_industrial_motion/blob/367eee6e7c81e37bf147a4812374e6748a230e5f/pilz_robot_programming/CMakeLists.txt#L57
mikeferguson · Apr 2, 2020 · 2c9cd83 · 2c9cd83
1 parent 2f1142d
commit 2c9cd83
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diff --git a/README.md b/README.md
@@ -44,3 +44,39 @@ endif()
   ```
 
 * The output will print where the coverage report is located
+
+## Python rostest Support
+
+While the C++ interface and Python-based unit tests require no
+modification to get coverage information, Python-based nodes
+run from rostest launch files need a bit of additional
+instrumentation turned on:
+
+```
+<launch>
+
+    <!-- Add an argument to the launch file to turn on coverage -->
+    <arg name="coverage" default="false"/>
+
+    <!-- This fancy line forces nodes to generate coverage -->
+    <arg name="pythontest_launch_prefix" value="$(eval 'python-coverage run -p' if arg('coverage') else '')"/>
+
+    <!-- This node will NOT generate coverage information -->
+    <node pkg="example_pkg" name="publisher_node" type="publisher_node.py" />
+
+    <!-- But this node WILL generate coverage -->
+    <node pkg="example_pkg" name="subscriber_node" type="subscriber_node.py"
+          launch-prefix="$(arg pythontest_launch_prefix)" />
+
+    <!-- The test can also generate coverage information if you include the launch-prefix -->
+    <test time-limit="10" test-name="sample_rostest" pkg="example_pkg" type="sample_rostest.py"
+          launch-prefix="$(arg pythontest_launch_prefix)" />
+
+</launch>
+```
+
+In the CMakeLists, you will need to pass this argument:
+
+```
+add_rostest(example_rostest.test ARGS coverage:=ENABLE_COVERAGE_TESTING)
+```
diff --git a/cmake/Modules/CodeCoverage.cmake b/cmake/Modules/CodeCoverage.cmake
@@ -126,30 +126,60 @@ function(ADD_CODE_COVERAGE)
         message(FATAL_ERROR "genhtml not found! Aborting...")
     endif() # NOT GENHTML_PATH
 
-    # Setup target
-    add_custom_target(${Coverage_NAME}_cleanup
+    # Determine directory to store python coverage files
+    set(COVERAGE_DIR $ENV{HOME}/.ros)
+    if(DEFINED ENV{ROS_HOME})
+        set(COVERAGE_DIR $ENV{ROS_HOME})
+    endif()
+
+    # Cleanup C++ counters
+    add_custom_target(${Coverage_NAME}_cleanup_cpp
         # Cleanup lcov
         COMMAND ${LCOV_PATH} --directory . --zerocounters
         # Create baseline to make sure untouched files show up in the report
         COMMAND ${LCOV_PATH} -c -i -d . -o ${Coverage_NAME}.base
         WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
         DEPENDS ${Coverage_DEPENDENCIES}
-        COMMENT "Resetting code coverage counters to zero."
+        COMMENT "Resetting CPP code coverage counters to zero."
     )
 
-    add_custom_target(${Coverage_NAME}
+    # Cleanup python counters
+    add_custom_target(${Coverage_NAME}_cleanup_py
+        COMMAND python-coverage erase
+        WORKING_DIRECTORY ${COVERAGE_DIR}
+        COMMENT "Resetting PYTHON code coverage counters to zero."
+    )
+
+    # Cleanup before we run tests
+    add_dependencies(_run_tests_${PROJECT_NAME} ${Coverage_NAME}_cleanup_cpp)
+    add_dependencies(_run_tests_${PROJECT_NAME} ${Coverage_NAME}_cleanup_py)
+
+    # Create C++ coverage report
+    add_custom_target(${Coverage_NAME}_cpp
         # Capturing lcov counters and generating report
         COMMAND ${LCOV_PATH} --directory . --capture --output-file ${Coverage_NAME}.info
         # add baseline counters
-        COMMAND ${LCOV_PATH} -a ${Coverage_NAME}.base -a ${Coverage_NAME}.info --output-file ${Coverage_NAME}.total
-        COMMAND ${LCOV_PATH} --remove ${Coverage_NAME}.total ${COVERAGE_EXCLUDES} --output-file ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.removed
-        COMMAND ${LCOV_PATH} --extract ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.removed "'*/${PROJECT_NAME}/*'" --output-file ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned
-        COMMAND ${GENHTML_PATH} -o ${Coverage_NAME} ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned
-        COMMAND ${CMAKE_COMMAND} -E remove ${Coverage_NAME}.base ${Coverage_NAME}.total
-
+        COMMAND ${LCOV_PATH} -a ${Coverage_NAME}.base -a ${Coverage_NAME}.info --output-file ${Coverage_NAME}.total || (exit 0)
+        COMMAND ${LCOV_PATH} --remove ${Coverage_NAME}.total ${COVERAGE_EXCLUDES} --output-file ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.removed || (exit 0)
+        COMMAND ${LCOV_PATH} --extract ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.removed "'*/${PROJECT_NAME}/*'" --output-file ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned || (exit 0)
+        COMMAND ${GENHTML_PATH} -o ${Coverage_NAME} ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned || (exit 0)
+        COMMAND ${CMAKE_COMMAND} -E remove ${Coverage_NAME}.base ${Coverage_NAME}.total || (exit 0)
         WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
-        DEPENDS ${Coverage_NAME}_cleanup
         DEPENDS _run_tests_${PROJECT_NAME}
+    )
+
+    # Create Python coverage report
+    add_custom_target(${Coverage_NAME}_py
+        COMMAND cp ${PROJECT_BINARY_DIR}/.coverage ${COVERAGE_DIR}/.coverage.nosetests || echo "WARNING: No nosetest coverage!"
+        COMMAND python-coverage combine || echo "WARNING: No python coverage to combine!"
+        COMMAND python-coverage xml || echo "WARNING: No python xml to output"
+        WORKING_DIRECTORY ${COVERAGE_DIR}
+        DEPENDS _run_tests_${PROJECT_NAME}
+    )
+
+    add_custom_target(${Coverage_NAME}
+        DEPENDS ${Coverage_NAME}_cpp
+        DEPENDS ${Coverage_NAME}_py
         COMMENT "Processing code coverage counters and generating report."
     )
 
@@ -159,17 +189,26 @@ function(ADD_CODE_COVERAGE)
         COMMENT "Lcov code coverage info report saved in ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info."
     )
 
-    # Show info where to find the report
+    # Show info where to find the C++ report
     add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
         COMMAND ;
         COMMENT "Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report."
     )
 
+    # Show info where to find the Python report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Python code coverage info saved in ${COVERAGE_DIR} directory."
+    )
+
 endfunction() # SETUP_TARGET_FOR_COVERAGE
 
 function(APPEND_COVERAGE_COMPILER_FLAGS)
+    # Set flags for all C++ builds
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
+    # Turn on coverage in python nosetests (see README for requirements on rostests)
+    set(ENV{CATKIN_TEST_COVERAGE} "1")
     message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
 endfunction() # APPEND_COVERAGE_COMPILER_FLAGS
 

diff --git a/package.xml b/package.xml
@@ -14,6 +14,8 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>lcov</build_depend>
+  <build_depend>python-coverage</build_depend>
   <run_depend>lcov</run_depend>
+  <run_depend>python-coverage</run_depend>
 
 </package>