ros2_medkit_integration_tests

Integration tests and demo nodes for ros2_medkit

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README

ros2_medkit_integration_tests

Integration tests, demo nodes, and shared test utilities for ros2_medkit.

Overview

This package contains everything needed to validate the ros2_medkit system end-to-end:

Demo nodes – automotive-themed C++ nodes (sensors, actuators, services, actions) that produce realistic ROS 2 traffic for testing
Feature tests – focused tests that validate individual API features (data access, operations, faults, SSE, CORS, auth, etc.)
Scenario tests – end-to-end stories that exercise multi-step workflows (fault lifecycle, action execution, discovery modes, subscriptions, etc.)
Shared test library (ros2_medkit_test_utils) – base test case, launch helpers, and assertion utilities shared across all test files

Package Structure

ros2_medkit_integration_tests/
  demo_nodes/           # C++ demo node sources
  launch/               # demo_nodes.launch.py
  ros2_medkit_test_utils/
    __init__.py
    constants.py        # DEFAULT_PORT, timeouts
    coverage.py         # GCOV_PREFIX helpers for CI
    gateway_test_case.py  # GatewayTestCase base class
    launch_helpers.py   # create_test_launch(), DEMO_NODE_REGISTRY
  test/
    features/           # Focused API feature tests
    scenarios/          # End-to-end workflow tests

Running Tests

# Build everything
colcon build --symlink-install
source install/setup.bash

# All integration tests
colcon test --packages-select ros2_medkit_integration_tests
colcon test-result --verbose

# Single test
colcon test --packages-select ros2_medkit_integration_tests \
  --ctest-args -R test_data_read

# Feature tests only
colcon test --packages-select ros2_medkit_integration_tests \
  --ctest-args -L feature

# Scenario tests only
colcon test --packages-select ros2_medkit_integration_tests \
  --ctest-args -L scenario

Demo Nodes

Launch all demo nodes for manual testing or the web UI:

ros2 launch ros2_medkit_integration_tests demo_nodes.launch.py

Node	Namespace	Type	Description
`temp_sensor`	`/powertrain/engine`	Publisher	Engine temperature (2 Hz)
`rpm_sensor`	`/powertrain/engine`	Publisher	RPM readings (2 Hz)
`pressure_sensor`	`/chassis/brakes`	Publisher	Brake pressure (2 Hz)
`status_sensor`	`/body/door/front_left`	Publisher	Door open/closed (0.5 Hz)
`lidar_sensor`	`/perception/lidar`	Publisher + Fault reporter	LaserScan with fault detection
`actuator`	`/chassis/brakes`	Subscriber + Publisher	Brake actuator (command/feedback)
`controller`	`/body/lights`	Subscriber + Publisher	Light controller (command/status)
`calibration`	`/powertrain/engine`	Service	Trigger-based calibration
`long_calibration`	`/powertrain/engine`	Action	Fibonacci-based long-running action

Writing New Tests

Feature Test Template

Feature tests validate a single API capability:

from ros2_medkit_test_utils.gateway_test_case import GatewayTestCase
from ros2_medkit_test_utils.launch_helpers import create_test_launch

def generate_test_description():
    return create_test_launch(
        demo_nodes=['temp_sensor'],
        fault_manager=False,
    )

class TestMyFeature(GatewayTestCase):
    MIN_EXPECTED_APPS = 1
    REQUIRED_APPS = {'temp_sensor'}

    def test_something(self):
        data = self.get_json('/apps')
        self.assertGreater(len(data['items']), 0)

Scenario Test Template

Scenario tests exercise multi-step workflows with numbered test methods:

class TestMyScenario(GatewayTestCase):
    MIN_EXPECTED_APPS = 2
    REQUIRED_APPS = {'lidar_sensor'}

    def test_01_first_step(self):
        """Step 1 description. @verifies REQ_XXX"""
        ...

    def test_02_second_step(self):
        """Step 2 depends on step 1."""
        ...

Key GatewayTestCase Methods

get_json(path) – GET request, assert 200, return parsed JSON
delete_request(path, expected_status) – DELETE with status check
assert_entity_exists(entity_type, entity_id) – GET entity, assert exists
assert_entity_list_contains(entity_type, ids) – assert IDs in list
wait_for_fault(endpoint, fault_code) – poll until fault appears
wait_for_operation(endpoint, op_id) – poll until operation discovered
create_execution(endpoint, op_id, input_data) – POST to create execution
wait_for_execution_status(endpoint, statuses) – poll execution status

Requirements Traceability

Tests are tagged with # @verifies REQ_XXX in docstrings. Run the verification script to update the traceability matrix:

python scripts/generate_verification.py

License

Apache-2.0