xs
457 lines
11 KiB
Markdown
457 lines
11 KiB
Markdown
# 90 · 测试策略(完全指南)
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> **目标**:理解 ROS2 三层测试金字塔,会用 gtest / pytest / colcon test,能把本仓库的测试策略用到自己的项目。
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---
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## 目录
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- [1. 测试金字塔](#1-测试金字塔)
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- [2. C++ gtest 完整指南](#2-c-gtest-完整指南)
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- [3. Python pytest 完整指南](#3-python-pytest-完整指南)
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- [4. launch_testing(集成测试 launch 文件)](#4-launch_testing集成测试-launch-文件)
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- [5. 本仓库测试策略详解](#5-本仓库测试策略详解)
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- [6. 端到端自动化(进阶)](#6-端到端自动化进阶)
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- [7. 标记 / 跳过 / 覆盖率](#7-标记--跳过--覆盖率)
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- [8. CI 集成(GitHub Actions)](#8-ci-集成github-actions)
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- [9. 在本仓库里跑](#9-在本仓库里跑)
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- [10. 进阶:Mock DDS / 时间注入 / Fault Injection](#10-进阶mock-dds--时间注入--fault-injection)
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---
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## 1. 测试金字塔
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```
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┌────────────────┐
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│ 端到端 E2E │ ← launch_testing + 真实 launch
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│ (慢 / 1-2 个) │
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├────────────────┤
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│ 集成 in-process │ ← 同进程 spin + DDS 单跑
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│ (中等 / 4-6) │
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├────────────────┤
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│ 单元 Unit │ ← gtest / pytest 单函数
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│ (快 / 大量) │
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└────────────────┘
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```
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| 层 | 跑在哪 | 速度 | 数量 |
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|---|---|---|---|
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| 单元 | 容器内 / 本机 venv | 秒级 | 几十 ~ 几百 |
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| 集成 in-process | 容器内(colcon test) | 秒 ~ 分钟 | 几个 ~ 几十 |
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| 端到端 E2E | launch + 真实 DDS | 分钟级 | 1-5 个核心场景 |
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**本仓库**:
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- 单元 + 集成:`colcon test` 一键跑(10 用例,秒级)
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- 端到端:固化 5 个 `docker/*_e2e.log` 手动验证
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---
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## 2. C++ gtest 完整指南
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### 2.1 测试文件
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```cpp
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#include "gtest/gtest.h"
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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class PubsubTest : public ::testing::Test {
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protected:
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static void SetUpTestSuite() {
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rclcpp::init(0, nullptr); // 同进程共享一个 context
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}
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static void TearDownTestSuite() {
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rclcpp::shutdown();
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}
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};
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TEST_F(PubsubTest, MessageDataFieldIsNonEmpty) {
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std_msgs::msg::String msg;
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msg.data = "hi";
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EXPECT_FALSE(msg.data.empty());
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EXPECT_EQ(msg.data, "hi");
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}
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TEST_F(PubsubTest, PublisherOnce) {
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auto node = std::make_shared<rclcpp::Node>("test_node");
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auto pub = node->create_publisher<std_msgs::msg::String>("chatter", 10);
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auto msg = std_msgs::msg::String();
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msg.data = "unit-test";
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pub->publish(msg);
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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exec->add_node(node);
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end = std::chrono::steady_clock::now() + std::chrono::seconds(1);
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while (std::chrono::steady_clock::now() < end) {
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exec->spin_some(50ms);
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}
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SUCCEED();
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}
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```
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### 2.2 CMakeLists.txt 集成
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```cmake
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(test_pub_sub test/test_pub_sub.cpp)
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ament_target_dependencies(test_pub_sub rclcpp std_msgs)
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endif()
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```
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### 2.3 跑测试
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```bash
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colcon build --packages-select cpp_pubsub
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colcon test --packages-select cpp_pubsub
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# 看详细
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cat build/cpp_pubsub/test_results/cpp_pubsub/test_pub_sub.gtest.xml
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```
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### 2.4 关键 API
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| API | 用途 |
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|---|---|
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| `TEST(suite, name)` | 测试用例 |
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| `TEST_F(FixtureName, name)` | 用 fixture |
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| `EXPECT_*`(非致命) / `ASSERT_*`(致命) | 断言 |
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| `SetUp() / TearDown()` | 每个用例前后 |
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| `SetUpTestSuite() / TearDownTestSuite()` | 所有用例前后 |
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---
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## 3. Python pytest 完整指南
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### 3.1 测试文件
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```python
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import rclpy
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import pytest
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from py_pubsub.publisher_member_function import Talker
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@pytest.fixture(scope='module')
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def ros_context():
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"""rclpy 是进程级单例,模块前 init,完成后 shutdown。"""
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rclpy.init()
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yield
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rclpy.shutdown()
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def test_talker_init(ros_context):
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node = Talker()
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assert node.get_name() == 'talker_py'
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def test_inproc_roundtrip(ros_context):
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"""同进程 spin Talker + 自建 subscriber,验证消息流。"""
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import time
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from sensor_msgs.msg import String
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talker = Talker()
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received = []
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sub_node = rclpy.node.Node('test_subscriber')
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sub_node.create_subscription(
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String, 'chatter',
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lambda msg: received.append(msg.data), 10)
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exec_ = rclpy.executors.SingleThreadedExecutor()
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exec_.add_node(talker)
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exec_.add_node(sub_node)
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end = time.time() + 1.5
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while time.time() < end:
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exec_.spin_once(timeout_sec=0.05)
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assert any('Hello from PY' in s for s in received)
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```
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### 3.2 同进程 spin(关键模式)
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```python
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exec_ = rclpy.executors.SingleThreadedExecutor()
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exec_.add_node(talker)
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exec_.add_node(listener)
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end = time.time() + timeout_sec
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while time.time() < end:
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exec_.spin_once(timeout_sec=0.05)
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```
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**`spin_once(timeout)`** 在主循环里手动驱动事件循环,**比 `rclpy.spin()` 易控制超时**。
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### 3.3 pytest 标记(marks)
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```python
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@pytest.mark.ros # 需要 ROS2 环境
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@pytest.mark.inproc # 同进程可跑
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@pytest.mark.slow # 跑得慢
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```
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CLI:
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```bash
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pytest -m "not slow"
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pytest -m ros and not inproc
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```
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### 3.4 pytest 配置(pyproject.toml)
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本仓库已在 `pyproject.toml` 配:
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```toml
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[tool.pytest.ini_options]
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markers = [
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"ros: 需要 ROS2 运行环境",
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"inproc: 同进程内 spin",
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]
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```
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---
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## 4. launch_testing(集成测试 launch 文件)
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```python
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import launch
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import launch_ros
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import launch_testing
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import launch_testing.actions
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import pytest
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@pytest.mark.launch_test
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def generate_test_description():
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return launch.LaunchDescription([
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launch_ros.actions.Node(
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package='py_pubsub',
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executable='talker',
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parameters=[{'period_ms': 100, 'topic': 'chatter_test'}]),
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launch_ros.actions.Node(
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package='py_pubsub',
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executable='listener',
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parameters=[{'topic': 'chatter_test'}]),
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launch_testing.actions.ReadyToTest(),
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])
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class TestPubSub(unittest.TestCase):
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def test_message_received(self, proc_output):
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assert proc_output.assertWaitFor(
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'recv:', timeout=5, stream='stdout'
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)
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```
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**注意**: launch_testing 在 colcon test 环境下与节点 rclpy.shutdown() 二次调用可能冲突,本仓库改用更稳的 in-process spin。
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---
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## 5. 本仓库测试策略详解
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### 5.1 单元 + 集成 in-process(主测试)
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**Python 包** 用 pytest + in-process spin:
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```python
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@pytest.fixture(scope='module')
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def ros_context():
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rclpy.init()
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yield
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rclpy.shutdown()
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def test_xxx(ros_context):
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server = SomeServer()
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client = SomeClient()
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exec_ = rclpy.executors.SingleThreadedExecutor()
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exec_.add_node(server); exec_.add_node(client)
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# ... 触发 + 验证
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```
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**C++ 包** 用 gtest + ament_add_gtest:
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```cpp
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TEST_F(MyFixture, SpinSomeWorks) {
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auto node = std::make_shared<MyNode>();
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auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
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exec->add_node(node);
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exec->spin_some(50ms);
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}
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```
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### 5.2 端到端(固化日志,手工验证)
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5 个核心场景,跑一遍固化到 `docker/`:
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- `bringup_e2e.log`:Topic 4 节点跨包跨语言
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- `srv_e2e.log`:Service 12+30=42
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- `robot_e2e.log`:URDF + TF 实时打印
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- `vision_e2e.log`:Image 流
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- `full_demo_e2e.log`:11 节点一起
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每次大改动后重跑 + 替换日志。
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### 5.3 测试覆盖现状
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| 包 | 测试 | 用例数 | 通过率 |
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| py_pubsub | pytest + in-process | 4/4 | 100% |
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| cpp_pubsub | gtest | 2/2 | 100% |
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| py_srv | pytest + Service | 1/1 | 100% |
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| py_action_demo | pytest + Action | 1/1 | 100% |
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| cpp_robot_tf2 | gtest + TF2 | 2/2 | 100% |
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| py_vision_demo | pytest + Image | 2/2 | 100% |
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| bringup | launch 6 文件就绪 | OK | 100% |
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**合计: 10/10 测试 100% PASSED**。
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---
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## 6. 端到端自动化(进阶)
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```python
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@pytest.mark.launch_test
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def generate_test_description():
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return launch.LaunchDescription([
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(<bringup>/launch/full_demo_launch.py)),
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launch_testing.actions.ReadyToTest(),
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])
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class TestFullDemo(unittest.TestCase):
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def test_all_nodes_running(self):
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# 跑 ros2 node list 子进程,看 11 个节点
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...
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```
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详见 [`20-topics.md`](20-topics.md) §11.3 录包回放。
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---
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## 7. 标记 / 跳过 / 覆盖率
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### 7.1 标记
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```python
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@pytest.mark.skip(reason="硬件没到位")
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def test_xxx():
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...
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@pytest.mark.skipif(sys.platform == 'win32', reason="Windows 跑不动")
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def test_yyy():
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...
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@pytest.mark.xfail(reason="已知 bug") # 标记预期失败
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def test_zzz():
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...
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```
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### 7.2 覆盖率
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```bash
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# Python
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pytest --cov=py_pubsub --cov-report=html src/py_pubsub/test
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# 输出 build/htmlcov/index.html
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```
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```bash
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# C++(用 lcov)
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sudo apt install lcov
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cd build/cpp_pubsub && lcov --capture --directory . --output-file coverage.info
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genhtml coverage.info --output-directory coverage_html
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```
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---
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## 8. CI 集成(GitHub Actions)
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```yaml
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# .github/workflows/test.yml
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name: test
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on: [push, pull_request]
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jobs:
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test:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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- name: Build image & test
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run: |
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docker compose -f docker/docker-compose.yml build
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docker compose -f docker/docker-compose.yml up -d
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docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon build --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"
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docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"
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```
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---
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## 9. 在本仓库里跑
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### 9.1 跑全部测试
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```bash
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docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"
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```
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### 9.2 单包测试
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```bash
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docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon test --packages-select cpp_pubsub"
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```
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### 9.3 看测试日志
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```bash
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# gtest
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cat build/cpp_pubsub/test_results/cpp_pubsub/test_pub_sub.gtest.xml
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# pytest
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cat build/py_pubsub/pytest.xml
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```
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### 9.4 当前结果(固化)
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```
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✅ cpp_pubsub: 2/2 PASSED
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✅ py_pubsub: 4/4 PASSED
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✅ py_srv: 1/1 PASSED
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✅ py_action_demo: 1/1 PASSED
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✅ cpp_robot_tf2: 2/2 PASSED
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✅ py_vision_demo: 2/2 PASSED
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✅ bringup: OK (no tests)
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合计: 10/10 PASSED
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```
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---
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## 10. 进阶:Mock DDS / 时间注入 / Fault Injection
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### 10.1 Mock DDS(测试纯逻辑)
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```python
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# 不起 ROS2 上下文,直接测算法
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def test_message_parser():
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raw = b'\x00\x01hello'
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parsed = MyParser.parse(raw)
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assert parsed == 'hello'
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```
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### 10.2 时间注入
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```cpp
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// C++: 用 Clock 抽象 + RosTime mock
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node->set_parameter(rclcpp::Parameter("use_sim_time", true));
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// 然后通过 /clock topic 推时间
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```
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### 10.3 Fault Injection
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```python
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# 杀掉 server 模拟断网
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subprocess.run(['pkill', '-9', '-f', 'add_two_ints_server'])
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# 看 client 怎么处理
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# 慢响应模拟
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# 修改 server callback sleep 时间
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```
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---
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## 接下来读
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| 主题 | 文档 |
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|---|---|
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| 三机部署 | [`100-embedded-deployment.md`](100-embedded-deployment.md) |
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| 具身智能路径 | [`99-embodied-ai.md`](99-embodied-ai.md) |
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| Docker 开发 | [`85-docker.md`](85-docker.md) | |