Testing

Unit Tests

Unit tests for C++ code in ATOS are written in gtest. New modules must have unit tests covering at least the core functionality. All unit tests for each module are executed automatically each time a pull request is submitted.

To run individual unit tests, run the following command from the ATOS build folder in your workspace:

cd ~/atos_ws/build/atos
ctest -R <test_name>

To run all unit tests you can just run

colcon test --event-handlers console_cohesion+

from the root folder of your workspace.

colcon and cmake switches if test should be built with the BUILD_TESTING flag. This should be set to ON by default. If not you can set it manually with

colcon build --cmake-args -DBUILD_TESTING=ON

Integration testing

The docker compose file docker-compose-test.yml is used to run integration tests towards one or more simulated ISO22133 test objects. These test are used to "smoke test" ATOS and makes sure that no changes breaks any core functionality. You can start these test with the command

docker compose -f docker-compose-test.yml up --abort-on-container-exit

If you wish to run these test manually you can find the entry point script at scripts/integration_testing/run_scenario_test.py. Run the test with

python3 -m pytest run_scenario_test.py

Sample code

In the Sample Module you will find a sample node and a some tests that triggers message callbacks and service routines. Use this as inspiration when testing your modules.