HAL Interfaces Tests

[Apolo151]

resolves #3195

[javizqh]

How are you supposed to launch the tests @Apolo151 ?

I have tried inside and outside the RADi and I cannot get them to complete without crashing. Here is the log when running inside the RADI:

root@9ab22f2c3652:/RoboticsAcademy# pytest-3 tests/
============================================================================== test session starts ===============================================================================
platform linux -- Python 3.10.12, pytest-6.2.5, py-1.11.0, pluggy-0.13.0
rootdir: /RoboticsAcademy, configfile: pytest.ini
plugins: launch-testing-1.0.10, launch-testing-ros-0.19.10, ament-xmllint-0.12.14, ament-pep257-0.12.14, ament-flake8-0.12.14, ament-lint-0.12.14, ament-copyright-0.12.14, hypothesis-6.36.0, mock-3.6.1, arraydiff-0.5.0, remotedata-0.3.3, astropy-header-0.2.0, openfiles-0.5.0, doctestplus-0.11.2, filter-subpackage-0.1.1, colcon-core-0.20.0, cov-3.0.0
collected 0 items / 3 errors                                                                                                                                                     

===================================================================================== ERRORS =====================================================================================
_____________________________________________________________ ERROR collecting tests/console_interfaces/__init__.py ______________________________________________________________
/usr/lib/python3/dist-packages/pluggy/hooks.py:286: in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:92: in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:83: in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
/usr/lib/python3/dist-packages/_pytest/python.py:200: in pytest_collect_file
    module: Module = ihook.pytest_pycollect_makemodule(path=path, parent=parent)
/usr/lib/python3/dist-packages/pluggy/hooks.py:286: in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:92: in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:83: in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
/opt/ros/humble/lib/python3.10/site-packages/launch_testing/pytest/hooks.py:193: in pytest_pycollect_makemodule
    entrypoint = find_launch_test_entrypoint(path)
/opt/ros/humble/lib/python3.10/site-packages/launch_testing/pytest/hooks.py:186: in find_launch_test_entrypoint
    module = path.pyimport()
/usr/local/lib/python3.10/dist-packages/py/_path/local.py:704: in pyimport
    __import__(modname)
/usr/lib/python3/dist-packages/_pytest/assertion/rewrite.py:170: in exec_module
    exec(co, module.__dict__)
tests/console_interfaces/test_console.py:5: in <module>
    from console_interfaces.general.console import start_console, close_console
E   ModuleNotFoundError: No module named 'console_interfaces'
_______________________________________________________________ ERROR collecting tests/gui_interfaces/__init__.py ________________________________________________________________
/usr/lib/python3/dist-packages/pluggy/hooks.py:286: in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:92: in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:83: in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
/usr/lib/python3/dist-packages/_pytest/python.py:200: in pytest_collect_file
    module: Module = ihook.pytest_pycollect_makemodule(path=path, parent=parent)
/usr/lib/python3/dist-packages/pluggy/hooks.py:286: in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:92: in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:83: in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
/opt/ros/humble/lib/python3.10/site-packages/launch_testing/pytest/hooks.py:193: in pytest_pycollect_makemodule
    entrypoint = find_launch_test_entrypoint(path)
/opt/ros/humble/lib/python3.10/site-packages/launch_testing/pytest/hooks.py:186: in find_launch_test_entrypoint
    module = path.pyimport()
/usr/local/lib/python3.10/dist-packages/py/_path/local.py:704: in pyimport
    __import__(modname)
/usr/lib/python3/dist-packages/_pytest/assertion/rewrite.py:170: in exec_module
    exec(co, module.__dict__)
tests/gui_interfaces/test_measuring_gui.py:5: in <module>
    from gui_interfaces.general.measuring_threading_gui import MeasuringThreadingGUI
E   ModuleNotFoundError: No module named 'gui_interfaces'
_______________________________________________________________ ERROR collecting tests/hal_interfaces/__init__.py ________________________________________________________________
/usr/lib/python3/dist-packages/pluggy/hooks.py:286: in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:92: in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:83: in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
/usr/lib/python3/dist-packages/_pytest/python.py:200: in pytest_collect_file
    module: Module = ihook.pytest_pycollect_makemodule(path=path, parent=parent)
/usr/lib/python3/dist-packages/pluggy/hooks.py:286: in __call__
    return self._hookexec(self, self.get_hookimpls(), kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:92: in _hookexec
    return self._inner_hookexec(hook, methods, kwargs)
/usr/lib/python3/dist-packages/pluggy/manager.py:83: in <lambda>
    self._inner_hookexec = lambda hook, methods, kwargs: hook.multicall(
/opt/ros/humble/lib/python3.10/site-packages/launch_testing/pytest/hooks.py:193: in pytest_pycollect_makemodule
    entrypoint = find_launch_test_entrypoint(path)
/opt/ros/humble/lib/python3.10/site-packages/launch_testing/pytest/hooks.py:186: in find_launch_test_entrypoint
    module = path.pyimport()
/usr/local/lib/python3.10/dist-packages/py/_path/local.py:704: in pyimport
    __import__(modname)
/usr/lib/python3/dist-packages/_pytest/assertion/rewrite.py:170: in exec_module
    exec(co, module.__dict__)
tests/hal_interfaces/test_bumper.py:2: in <module>
    from hal_interfaces.general.bumper import (
E   ModuleNotFoundError: No module named 'hal_interfaces'
================================================================================ warnings summary ================================================================================
../usr/lib/python3/dist-packages/_pytest/config/__init__.py:1233
  Warning: Unknown config option: DJANGO_SETTINGS_MODULE

-- Docs: https://docs.pytest.org/en/stable/warnings.html
============================================================================ short test summary info =============================================================================
ERROR tests/console_interfaces/__init__.py - ModuleNotFoundError: No module named 'console_interfaces'
ERROR tests/gui_interfaces/__init__.py - ModuleNotFoundError: No module named 'gui_interfaces'
ERROR tests/hal_interfaces/__init__.py - ModuleNotFoundError: No module named 'hal_interfaces'
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Interrupted: 3 errors during collection !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
========================================================================== 1 warning, 3 errors in 0.18s ==========================================================================

[Apolo151]

Hi @javizqh,

I have added the steps to run the tests at tests/README.md.

[javizqh]

I now can launch the tests, but there are 3 error in the GUI tests because it is calling some methods that do not exist. Can you check this and the I will merge it.

tests/console_interfaces/test_console.py ..                                                                                                                                               [  2%]
tests/gui_interfaces/test_measuring_gui.py FFF                                                                                                                                            [  6%]
tests/gui_interfaces/test_threading_gui.py ......                                                                                                                                         [ 14%]
tests/hal_interfaces/test_bumper.py ......                                                                                                                                                [ 22%]
tests/hal_interfaces/test_camera.py ....                                                                                                                                                  [ 27%]
tests/hal_interfaces/test_classnet.py .....                                                                                                                                               [ 34%]
tests/hal_interfaces/test_laser.py .......                                                                                                                                                [ 43%]
tests/hal_interfaces/test_motors.py ......                                                                                                                                                [ 51%]
tests/hal_interfaces/test_noise_odometry.py ..............                                                                                                                                [ 69%]
tests/hal_interfaces/test_odometry.py ..............                                                                                                                                      [ 88%]
tests/hal_interfaces/test_sim_time.py .........                                                                                                                                           [100%]

=========================================================================================== FAILURES ============================================================================================
_________________________________________________________________________ TestMeasuringThreadingGUI.test_initialization _________________________________________________________________________

self = <tests.gui_interfaces.test_measuring_gui.TestMeasuringThreadingGUI testMethod=test_initialization>

    def test_initialization(self):
        # Test initialization parameters
        self.assertEqual(self.gui.host, "ws://test:2303")
        self.assertEqual(self.gui.out_period, 0.1)  # 1/10Hz
>       self.assertEqual(self.gui.ideal_cycle, 0.1)
E       AssertionError: 80 != 0.1

tests/gui_interfaces/test_measuring_gui.py:27: AssertionError
_________________________________________________________________________ TestMeasuringThreadingGUI.test_measure_thread _________________________________________________________________________

self = <tests.gui_interfaces.test_measuring_gui.TestMeasuringThreadingGUI testMethod=test_measure_thread>

    def test_measure_thread(self):
        # Test the measure_thread method
        self.gui.iteration_counter = 10
    
        # Mock time.time() to return controlled values
        with patch("time.time") as mock_time:
            # First call to get start_time
            mock_time.return_value = 100.0
>           self.gui.measure_thread()
E           AttributeError: 'MeasuringThreadingGUI' object has no attribute 'measure_thread'

tests/gui_interfaces/test_measuring_gui.py:38: AttributeError
_____________________________________________________________________ TestMeasuringThreadingGUI.test_send_frequency_message _____________________________________________________________________

self = <tests.gui_interfaces.test_measuring_gui.TestMeasuringThreadingGUI testMethod=test_send_frequency_message>

    def test_send_frequency_message(self):
        # Test sending frequency message to client
        self.gui.real_freq = 9.5  # Slightly lower than target
        self.gui.ideal_cycle = 0.1  # 10Hz target
    
        # Call method to send frequency info
>       self.gui.send_frequency_message()
E       AttributeError: 'MeasuringThreadingGUI' object has no attribute 'send_frequency_message'. Did you mean: 'frequency_message'?

tests/gui_interfaces/test_measuring_gui.py:56: AttributeError
==================================================================================== short test summary info ====================================================================================
FAILED tests/gui_interfaces/test_measuring_gui.py::TestMeasuringThreadingGUI::test_initialization - AssertionError: 80 != 0.1
FAILED tests/gui_interfaces/test_measuring_gui.py::TestMeasuringThreadingGUI::test_measure_thread - AttributeError: 'MeasuringThreadingGUI' object has no attribute 'measure_thread'
FAILED tests/gui_interfaces/test_measuring_gui.py::TestMeasuringThreadingGUI::test_send_frequency_message - AttributeError: 'MeasuringThreadingGUI' object has no attribute 'send_frequency_message'. Did you mean: 'frequency_message'?
================================================================================= 3 failed, 73 passed in 0.75s =================================================================================

[Apolo151]

Hi @javizqh,

I have updated the tests, all of them run successfully now.

[javizqh]

Works fine now