Dev

.github/workflows/ci.yml

@@ -0,0 +1,155 @@
+name: CI
+
+on:
+  push:
+    branches: [ main, dev ]
+  pull_request:
+    branches: [ main, dev ]
+
+jobs:
+  lint:
+    name: Lint
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update && apt-get install -y \
+            python3-pip \
+            python3-pytest \
+            python3-pytest-mock \
+            python3-opencv \
+            gstreamer1.0-tools \
+            gstreamer1.0-plugins-base \
+            gstreamer1.0-plugins-good \
+            gstreamer1.0-plugins-bad \
+            gstreamer1.0-plugins-ugly \
+            v4l-utils \
+            build-essential \
+            cmake \
+            git \
+            && rm -rf /var/lib/apt/lists/*
+
+      - name: Setup workspace structure
+        run: |
+          mkdir -p ws/src
+          cp -r camera_ros lucy_bringup ws/src/
+
+      - name: Build workspace
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select camera_ros lucy_bringup --cmake-args -DBUILD_TESTING=ON
+
+      - name: Run linters
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test --packages-select camera_ros lucy_bringup --event-handlers console_direct+ || true
+
+      - name: Check lint results
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test-result --verbose || true
+
+  test:
+    name: Unit Tests
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update && apt-get install -y \
+            python3-pip \
+            python3-pytest \
+            python3-pytest-mock \
+            python3-opencv \
+            gstreamer1.0-tools \
+            gstreamer1.0-plugins-base \
+            gstreamer1.0-plugins-good \
+            gstreamer1.0-plugins-bad \
+            gstreamer1.0-plugins-ugly \
+            v4l-utils \
+            build-essential \
+            cmake \
+            git \
+            && rm -rf /var/lib/apt/lists/*
+
+      - name: Install Python test dependencies
+        run: |
+          pip3 install --no-cache-dir pytest pytest-mock pytest-cov
+
+      - name: Setup workspace structure
+        run: |
+          mkdir -p ws/src
+          cp -r camera_ros lucy_bringup ws/src/
+
+      - name: Build workspace with tests
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select camera_ros lucy_bringup --cmake-args -DBUILD_TESTING=ON
+
+      - name: Run unit tests
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test --packages-select camera_ros lucy_bringup --event-handlers console_direct+
+
+      - name: Check test results
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test-result --verbose
+          # Fail if any tests failed
+          if colcon test-result --verbose | grep -q "failed"; then
+            echo "Some tests failed!"
+            exit 1
+          fi
+
+      - name: Generate coverage report
+        working-directory: /__w/lucy_ros_packages/lucy_ros_packages/ws
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          cd build/camera_ros
+          python3 -m pytest ../../src/camera_ros/test/ \
+            --cov=../../src/camera_ros/scripts \
+            --cov-report=xml:coverage.xml \
+            --cov-report=html:htmlcov \
+            --cov-report=term-missing \
+            --cov-branch || true
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v3
+        with:
+          file: ${{ github.workspace }}/ws/build/camera_ros/coverage.xml
+          flags: unittests
+          name: codecov-umbrella
+          fail_ci_if_error: false
+
+      - name: Upload coverage HTML report
+        uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: coverage-report
+          path: ${{ github.workspace }}/ws/build/camera_ros/htmlcov/
+          retention-days: 30

.gitignore

@@ -1 +1,57 @@
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+*.egg-info/
+dist/
+build/
+.eggs/
+
+# Virtual environments
 .venv
+venv/
+ENV/
+env/
+
+# Coverage reports
+htmlcov/
+.coverage
+.coverage.*
+coverage.xml
+*.cover
+.hypothesis/
+
+# Test artifacts
+.pytest_cache/
+test_results/
+*.xunit.xml
+.tox/
+.nox/
+
+# ROS2 build artifacts
+install/
+log/
+build/
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+.DS_Store
+
+# OS
+Thumbs.db
+.DS_Store
+
+# ROS2 specific
+.ros/
+
+# Temporary files
+*.tmp
+*.log
+*.bak
+*.orig

camera_ros/CMakeLists.txt

@@ -5,22 +5,85 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+# Find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Generate Python classes for the custom service
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/GetInt.srv"
+  DEPENDENCIES std_msgs
+  ADD_LINTER_TESTS
+)
+
+# Install Python scripts
+install(PROGRAMS
+  scripts/camera_publisher.py
+  scripts/camera_stream_controller.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install launch files
+install(FILES
+  launch/camera.launch.py
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install package.xml
+install(FILES
+  package.xml
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install README
+install(FILES
+  README.md
+  DESTINATION share/${PROJECT_NAME}/
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
+  find_package(ament_cmake_pytest REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  # Install test files
+  install(DIRECTORY test
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+  # Install pytest.ini for coverage configuration
+  install(FILES
+    pytest.ini
+    DESTINATION share/${PROJECT_NAME}
+  )
+
+  # Add pytest tests with coverage
+  ament_add_pytest_test(test_camera_publisher test/test_camera_publisher.py
+    TIMEOUT 60
+    PYTHON_EXECUTABLE "${PYTHON3_EXECUTABLE}"
+    APPEND_ENV PYTHONPATH="${CMAKE_CURRENT_SOURCE_DIR}/scripts:${CMAKE_CURRENT_SOURCE_DIR}"
+  )
+
+  ament_add_pytest_test(test_camera_stream_controller test/test_camera_stream_controller.py
+    TIMEOUT 60
+    PYTHON_EXECUTABLE "${PYTHON3_EXECUTABLE}"
+    APPEND_ENV PYTHONPATH="${CMAKE_CURRENT_SOURCE_DIR}/scripts:${CMAKE_CURRENT_SOURCE_DIR}"
+  )
 endif()
 
+# Export the generated interfaces
+ament_export_dependencies(rosidl_default_runtime)
+
 ament_package()