Add isolated gmock test

ament_cmake_ros/ament_cmake_ros-extras.cmake.in

@@ -14,5 +14,12 @@
 
 # generated from ament_cmake_ros/ament_cmake_ros-extras.cmake.in
 
+find_package(ament_cmake_gmock QUIET REQUIRED)
+find_package(ament_cmake_gtest QUIET REQUIRED)
+find_package(ament_cmake_pytest QUIET REQUIRED)
+include("${ament_cmake_ros_DIR}/ament_add_ros_isolated_gmock.cmake")
+include("${ament_cmake_ros_DIR}/ament_add_ros_isolated_gtest.cmake")
+include("${ament_cmake_ros_DIR}/ament_add_ros_isolated_pytest.cmake")
+
 include("${ament_cmake_ros_DIR}/build_shared_libs.cmake")
 add_definitions(-DROS_PACKAGE_NAME=\"${PROJECT_NAME}\")

ament_cmake_ros/cmake/ament_add_ros_isolated_gmock.cmake

@@ -0,0 +1,39 @@
+# Copyright 2019 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Add a gmock test that runs with ROS_DOMAIN_ID isolation.
+# If no ROS_DOMAIN_ID is set, automatically select one not in use by another
+# isolated test before running the target test.
+# This will prevent tests running in parallel from interfering with
+# one-another.
+#
+# This behavior can be disabled for debugging in two ways:
+# 1) Creating an environment variable called DISABLE_ROS_ISOLATION
+# 2) Setting a ROS_DOMAIN_ID environment variable.
+#    This will cause the tests to use that ROS_DOMAIN_ID.
+#
+# Parameters are the same as ament_add_gmock
+
+function(ament_add_ros_isolated_gmock target)
+
+  set(RUNNER "RUNNER" "${ament_cmake_ros_DIR}/run_test_isolated.py")
+
+  ament_add_gmock(
+    "${target}"
+    RUNNER "${RUNNER}"
+    ${ARGN}
+  )
+
+endfunction()

ament_cmake_ros_isolated_gtest/cmake/ament_add_ros_isolated_gtest.cmake → ament_cmake_ros/cmake/ament_add_ros_isolated_gtest.cmake

@@ -14,20 +14,21 @@
 
 #
 # Add a gtest that runs with ROS_DOMAIN_ID isolation.
-# If no ROS_DOMAIN_ID is set, automatically select one not in use by another isolated test
-# before running the target test.
-# This will prevent tests running in parallel from interfering with one-another.
+# If no ROS_DOMAIN_ID is set, automatically select one not in use by another
+# isolated test before running the target test.
+# This will prevent tests running in parallel from interfering with
+# one-another.
 #
 # This behavior can be disabled for debugging in two ways:
-# 1) Creating an environment variable called DISABLE_ROS_ISOLATION 
+# 1) Creating an environment variable called DISABLE_ROS_ISOLATION
 # 2) Setting a ROS_DOMAIN_ID environment variable.
 #    This will cause the tests to use that ROS_DOMAIN_ID.
 #
 # Parameters are the same as ament_add_gtest
 
 function(ament_add_ros_isolated_gtest target)
 
-  set(RUNNER "RUNNER" "${ament_cmake_ros_isolated_test_DIR}/run_test_isolated.py")
+  set(RUNNER "RUNNER" "${ament_cmake_ros_DIR}/run_test_isolated.py")
 
   ament_add_gtest(
     "${target}"

ament_cmake_ros_isolated_pytest/cmake/ament_add_ros_isolated_pytest.cmake → ament_cmake_ros/cmake/ament_add_ros_isolated_pytest.cmake

@@ -14,20 +14,21 @@
 
 #
 # Add a pytest that runs with ROS_DOMAIN_ID isolation.
-# If no ROS_DOMAIN_ID is set, automatically select one not in use by another isolated test
-# before running the target test.
-# This will prevent tests running in parallel from interfering with one-another.
+# If no ROS_DOMAIN_ID is set, automatically select one not in use by another
+# isolated test before running the target test.
+# This will prevent tests running in parallel from interfering with
+# one-another.
 #
 # This behavior can be disabled for debugging in two ways:
-# 1) Creating an environment variable called DISABLE_ROS_ISOLATION 
+# 1) Creating an environment variable called DISABLE_ROS_ISOLATION
 # 2) Setting a ROS_DOMAIN_ID environment variable.
 #    This will cause the tests to use that ROS_DOMAIN_ID.
 #
 # Parameters are the same as ament_add_pytest_test
 
 function(ament_add_ros_isolated_pytest_test testname path)
 
-  set(RUNNER "${ament_cmake_ros_isolated_test_DIR}/run_test_isolated.py")
+  set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
 
   ament_add_pytest_test(
     "${testname}" "${path}"

ament_cmake_ros_isolated_test/cmake/run_test_isolated.py → ament_cmake_ros/cmake/run_test_isolated.py

@@ -14,8 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import sys
 import os
+import sys
 
 import ament_cmake_test
 import domain_coordinator

ament_cmake_ros/package.xml

@@ -8,8 +8,12 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>domain_coordinator</depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_gtest</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_gmock</buildtool_export_depend>
+  <buildtool_export_depend>ament_cmake_pytest</buildtool_export_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

domain_coordinator/test/test_domain_coordinator.py

@@ -19,6 +19,14 @@
 
 class TestUniqueness(unittest.TestCase):
 
+    @classmethod
+    def setUpClass(cls):
+        # If a ros_isolated test (that uses the domain coordinator) runs at the same time as the
+        # domain_coordinator test, then the domain_coordinator tests may fail.
+        # When we're self-testing the domain_coordinator, select a different PORT_BASE so the
+        # the ports used by the test are different than the ports used for real
+        domain_coordinator._PORT_BASE += 100
+
     def test_quickly(self):
         """
         Quick test with false negatives, but simple and easy to understand.