Towards Quality Level 1 - Added common_linters and fixed tests (#43)

* Added common_linters and fixed tests Signed-off-by: ahcorde <ahcorde@gmail.com> * Removed test/CMakeLists.txt Signed-off-by: ahcorde <ahcorde@gmail.com> * Update resource_retriever/test/test.cpp Co-Authored-By: Chris Lalancette <clalancette@openrobotics.org> * Const exceptions Signed-off-by: ahcorde <ahcorde@gmail.com> * Added message when throws an exception Signed-off-by: ahcorde <ahcorde@gmail.com> * combine file plut error Signed-off-by: ahcorde <ahcorde@gmail.com> * Removed trace when the test is right Signed-off-by: ahcorde <ahcorde@gmail.com> * Installing only the test.txt file when BUILD_TESTING is active Signed-off-by: ahcorde <ahcorde@gmail.com> * no need to check for target in test Signed-off-by: ahcorde <ahcorde@gmail.com> * Attemp to fix windows path Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed warning on Windows Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
ros · Apr 22, 2020 · 9f02908 · 9f02908
1 parent a997a38
commit 9f02908
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Showing 9 changed files with 264 additions and 256 deletions.
diff --git a/resource_retriever/CMakeLists.txt b/resource_retriever/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(ament_index_cpp REQUIRED)
 # TODO(wjwwood): remove libcurl_vendor and just use system curl when possible
 find_package(libcurl_vendor REQUIRED)
 
-# TODO(wjwwood): split cpp and python apis into separate packages and fix python api
+# TODO(wjwwood): split cpp and python apis into separate packages
 
 add_library(${PROJECT_NAME} src/retriever.cpp)
 target_include_directories(${PROJECT_NAME}
@@ -38,11 +38,48 @@ ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(ament_index_cpp)
 ament_export_dependencies(libcurl_vendor)
 
+ament_python_install_package(${PROJECT_NAME}
+  PACKAGE_DIR src/${PROJECT_NAME})
+
 if(BUILD_TESTING)
-  # TODO(wjwwood): add ament linters
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cppcheck
+    ament_cmake_uncrustify
+  )
+  ament_lint_auto_find_test_dependencies()
+
+  ament_cppcheck(LANGUAGE "c++")
+  ament_uncrustify(LANGUAGE "C++")
+
+  ament_add_gtest(${PROJECT_NAME}_test test/test.cpp)
+  target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})
+
+  # Python test
+  # Provides PYTHON_EXECUTABLE_DEBUG
+  find_package(python_cmake_module REQUIRED)
+  find_package(PythonExtra REQUIRED)
+
+  set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+  endif()
+
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(resource_retriever_python_test test/test.py
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+    APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+    TIMEOUT 60
+  )
+
+  set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
 
-  # TODO(wjwwood): reenable tests from ROS 1
-  # add_subdirectory(test EXCLUDE_FROM_ALL)
+  install(
+    FILES test/test.txt
+    DESTINATION share/${PROJECT_NAME}/test
+  )
 endif()
 
 install(

diff --git a/resource_retriever/include/resource_retriever/retriever.h b/resource_retriever/include/resource_retriever/retriever.h
@@ -1,32 +1,33 @@
-/*
- * Copyright (C) 2009, Willow Garage, Inc.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *   * Redistributions of source code must retain the above copyright notice,
- *     this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived from
- *     this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
+// Copyright 2009, Willow Garage, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the  Willow Garage, Inc. nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef RESOURCE_RETRIEVER_RETRIEVER_H
-#define RESOURCE_RETRIEVER_RETRIEVER_H
+#ifndef RESOURCE_RETRIEVER__RETRIEVER_H_
+#define RESOURCE_RETRIEVER__RETRIEVER_H_
 
 #include <cstdint>
 #include <memory>
@@ -39,13 +40,13 @@ typedef void CURL;
 
 namespace resource_retriever
 {
-
 class Exception : public std::runtime_error
 {
 public:
-  Exception(const std::string& file, const std::string& error_msg)
+  Exception(const std::string & file, const std::string & error_msg)
   : std::runtime_error("Error retrieving file [" + file + "]: " + error_msg)
-  {}
+  {
+  }
 };
 
 /**
@@ -55,7 +56,8 @@ struct MemoryResource
 {
   MemoryResource()
   : size(0)
-  {}
+  {
+  }
 
   std::shared_ptr<uint8_t> data;
   size_t size;
@@ -78,14 +80,14 @@ class RESOURCE_RETRIEVER_PUBLIC Retriever
    * \return The file, loaded into memory
    * \throws resource_retriever::Exception if anything goes wrong.
    */
-  MemoryResource get(const std::string& url);
+  MemoryResource get(const std::string & url);
 
 private:
   Retriever(const Retriever & ret) = delete;
 
-  CURL* curl_handle_;
+  CURL * curl_handle_;
 };
 
-} // namespace resource_retriever
+}  //  namespace resource_retriever
 
-#endif // RESOURCE_RETRIEVER_RETRIEVER_H
+#endif  //  RESOURCE_RETRIEVER__RETRIEVER_H_
diff --git a/resource_retriever/package.xml b/resource_retriever/package.xml
@@ -24,8 +24,15 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
+  <depend>ament_index_python</depend>
   <depend>libcurl_vendor</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>python_cmake_module</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/resource_retriever/setup.py b/resource_retriever/setup.py
@@ -1,4 +1,5 @@
 from distutils.core import setup
+
 from catkin_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup()

diff --git a/resource_retriever/src/resource_retriever/__init__.py b/resource_retriever/src/resource_retriever/__init__.py
@@ -1,39 +1,35 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2008, Willow Garage, Inc.
-# All rights reserved.
+# Copyright 2008, Willow Garage, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
+# modification, are permitted provided that the following conditions are met:
 #
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of the Willow Garage nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
 #
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
 #
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+
+from ament_index_python import get_package_share_directory
 
-import roslib; roslib.load_manifest('resource_retriever')
-import subprocess
-import rospkg
 try:
     from urllib.request import urlopen
     from urllib.error import URLError
@@ -42,30 +38,36 @@
     from urllib2 import URLError
 
 PACKAGE_PREFIX = 'package://'
-r = rospkg.RosPack()
 
-def get_filename(url, use_protocol=True ):
+
+def get_filename(url, use_protocol=True):
     mod_url = url
     if url.find(PACKAGE_PREFIX) == 0:
         mod_url = url[len(PACKAGE_PREFIX):]
         pos = mod_url.find('/')
         if pos == -1:
-            raise Exception("Could not parse package:// format into file:// format for "+url)
+            raise Exception('Could not parse package:// format into file:// format for ' + url)
 
         package = mod_url[0:pos]
         mod_url = mod_url[pos:]
-        package_path = r.get_path(package)
+        package_path = get_package_share_directory(package)
 
         if use_protocol:
-            protocol = "file://"
+            protocol = 'file://'
         else:
-            protocol = ""
-        mod_url = protocol + package_path + mod_url;
+            protocol = ''
+        if sys.platform.startswith('win'):
+            path_without_protocol = package_path + mod_url
+            path_without_protocol = '/' + path_without_protocol.replace('/', '\\')
+            mod_url = protocol + path_without_protocol
+        else:
+            mod_url = protocol + package_path + mod_url
     return mod_url
 
+
 def get(url):
     filename = get_filename(url)
     try:
         return urlopen(filename).read()
     except URLError:
-        raise Exception("Invalid URL: {}".format(filename))
+        raise Exception('Invalid URL: {}'.format(filename))