From 514c0df5f46b5f86255d971aa0dfc466b46bdccd Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Sat, 2 Dec 2023 08:04:36 +0100
Subject: [PATCH] improving full test coverage

---
 .ci/parse_yaml.py |  14 +++--
 .ci/test.sh       |  33 ++++++++++++
 mrs.yaml          | 135 +++++++++++++++++++++++++++++++---------------
 3 files changed, 137 insertions(+), 45 deletions(-)

diff --git a/.ci/parse_yaml.py b/.ci/parse_yaml.py
index 6a831b91c3..4233e349ab 100755
--- a/.ci/parse_yaml.py
+++ b/.ci/parse_yaml.py
@@ -31,7 +31,8 @@ def main():
                 stable_ref = "none"
                 testing_ref = "none"
                 unstable_ref = "none"
-                ros_test = 0
+                ros_test = False
+                full_coverage = False
 
                 refs = properties['git_refs']
 
@@ -50,12 +51,19 @@ def main():
                 except:
                     pass
 
+                ros_test = properties['ros_test']
+
+                try:
+                    ros_test_enabled = bool(ros_test['enabled'])
+                except:
+                    pass
+
                 try:
-                    ros_test = bool(properties['ros_test'])
+                    full_coverage = bool(ros_test['full_test_coverage'])
                 except:
                     pass
 
-                print("{} {} {} {} {} {}".format(package, url, stable_ref, testing_ref, unstable_ref, ros_test))
+                print("{} {} {} {} {} {} {}".format(package, url, stable_ref, testing_ref, unstable_ref, ros_test_enabled, full_coverage))
 
 if __name__ == '__main__':
     main()
diff --git a/.ci/test.sh b/.ci/test.sh
index 817c9250db..15674ac818 100755
--- a/.ci/test.sh
+++ b/.ci/test.sh
@@ -45,6 +45,8 @@ catkin profile set debug
 
 cd src
 
+## | ---------------- clone the tested package ---------------- |
+
 echo "$0: cloning the package"
 
 # clone and checkout
@@ -59,6 +61,37 @@ echo "$REPOS" | while IFS= read -r REPO; do
 
 done
 
+## | ------- clone other packages for full test coverage ------ |
+
+REPOS=$(./.ci/parse_yaml.py $YAML_FILE $ARCH)
+
+echo "$REPOS" | while IFS= read -r REPO; do
+
+  $DEBUG && echo "Cloning $REPO"
+
+  PACKAGE=$(echo "$REPO" | awk '{print $1}')
+  URL=$(echo "$REPO" | awk '{print $2}')
+  BRANCH=$(echo "$REPO" | awk '{print $3}')
+  TEST=$(echo "$REPO" | awk '{print $6}')
+  FULL_COVERAGE=$(echo "$REPO" | awk '{print $7}')
+
+  if [[ "$TEST" != "True" ]]; then
+    continue
+  fi
+
+  if [[ "$FULL_COVERAGE" != "True" ]]; then
+    continue
+  fi
+
+  if [[ "$PACKAGE" == "$REPOSITORY_NAME" ]]; then
+    continue
+  fi
+
+  echo "$0: cloning '$URL --depth 1 --branch $BRANCH' into '$PACKAGE'"
+  git clone $URL --recurse-submodules --shallow-submodules --depth 1 --branch $BRANCH $PACKAGE
+
+done
+
 cd $WORKSPACE/src
 
 echo "$0: installing rosdep dependencies"
diff --git a/mrs.yaml b/mrs.yaml
index c6756d4b10..77df6b72c9 100644
--- a/mrs.yaml
+++ b/mrs.yaml
@@ -5,7 +5,8 @@ mrs_msgs:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_modules_msgs:
   architecture: [amd64, arm64]
@@ -14,7 +15,8 @@ mrs_modules_msgs:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_lib:
   architecture: [amd64, arm64]
@@ -23,7 +25,9 @@ mrs_lib:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_uav_managers:
   architecture: [amd64, arm64]
@@ -32,7 +36,9 @@ mrs_uav_managers:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_bumper:
   architecture: [amd64, arm64]
@@ -41,7 +47,8 @@ mrs_bumper:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_multirotor_simulator:
   architecture: [amd64, arm64]
@@ -50,7 +57,9 @@ mrs_multirotor_simulator:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
+    full_test_coverage: true
 
 mrs_uav_controllers:
   architecture: [amd64, arm64]
@@ -59,7 +68,9 @@ mrs_uav_controllers:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_uav_autostart:
   architecture: [amd64, arm64]
@@ -68,7 +79,9 @@ mrs_uav_autostart:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_uav_hw_api:
   architecture: [amd64, arm64]
@@ -77,7 +90,9 @@ mrs_uav_hw_api:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
+    full_test_coverage: true
 
 mrs_uav_state_estimators:
   architecture: [amd64, arm64]
@@ -86,7 +101,9 @@ mrs_uav_state_estimators:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_uav_deployment:
   architecture: [amd64, arm64]
@@ -95,7 +112,8 @@ mrs_uav_deployment:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_status:
   architecture: [amd64, arm64]
@@ -104,7 +122,8 @@ mrs_uav_status:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_trackers:
   architecture: [amd64, arm64]
@@ -113,7 +132,9 @@ mrs_uav_trackers:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_uav_px4_api:
   architecture: [amd64, arm64]
@@ -122,7 +143,8 @@ mrs_uav_px4_api:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_dji_tello_api:
   architecture: [amd64, arm64]
@@ -131,7 +153,8 @@ mrs_uav_dji_tello_api:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_rviz_plugins:
   architecture: [amd64, arm64]
@@ -140,7 +163,8 @@ mrs_rviz_plugins:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_trajectory_generation:
   architecture: [amd64, arm64]
@@ -149,7 +173,9 @@ mrs_uav_trajectory_generation:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
+    full_test_coverage: true
 
 mrs_serial:
   architecture: [amd64, arm64]
@@ -158,7 +184,8 @@ mrs_serial:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_path_loader:
   architecture: [amd64, arm64]
@@ -167,7 +194,8 @@ mrs_uav_path_loader:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_trajectory_loader:
   architecture: [amd64, arm64]
@@ -176,7 +204,8 @@ mrs_uav_trajectory_loader:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_utils:
   architecture: [amd64, arm64]
@@ -185,7 +214,8 @@ mrs_utils:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_gazebo_common_resources:
   architecture: [amd64, arm64]
@@ -194,7 +224,8 @@ mrs_gazebo_common_resources:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_pcl_tools:
   architecture: [amd64, arm64]
@@ -203,7 +234,8 @@ mrs_pcl_tools:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_subt_planning_lib:
   architecture: [amd64, arm64]
@@ -212,7 +244,8 @@ mrs_subt_planning_lib:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_octomap_tools:
   architecture: [amd64, arm64]
@@ -221,7 +254,8 @@ mrs_octomap_tools:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_octomap_server:
   architecture: [amd64, arm64]
@@ -230,7 +264,8 @@ mrs_octomap_server:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_octomap_planner:
   architecture: [amd64, arm64]
@@ -239,7 +274,8 @@ mrs_octomap_planner:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_octomap_mapping_planning:
   architecture: [amd64, arm64]
@@ -248,7 +284,8 @@ mrs_octomap_mapping_planning:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_coppelia_simulation:
   architecture: [amd64, arm64]
@@ -257,7 +294,8 @@ mrs_uav_coppelia_simulation:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_gazebo_simulation:
   architecture: [amd64, arm64]
@@ -266,7 +304,8 @@ mrs_uav_gazebo_simulation:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: true
+  ros_test:
+    enabled: true
 
 aloam:
   architecture: [amd64, arm64]
@@ -275,7 +314,8 @@ aloam:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_modules:
   architecture: [amd64, arm64]
@@ -284,7 +324,8 @@ mrs_uav_modules:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_core:
   architecture: [amd64, arm64]
@@ -293,7 +334,8 @@ mrs_uav_core:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_uav_system:
   architecture: [amd64, arm64]
@@ -302,7 +344,8 @@ mrs_uav_system:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_hector_estimator_plugin:
   architecture: [amd64, arm64]
@@ -311,7 +354,8 @@ mrs_hector_estimator_plugin:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_hector_core:
   architecture: [amd64, arm64]
@@ -320,7 +364,8 @@ mrs_hector_core:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_open_vins_estimator_plugin:
   architecture: [amd64, arm64]
@@ -329,7 +374,8 @@ mrs_open_vins_estimator_plugin:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_vins_republisher:
   architecture: [amd64, arm64]
@@ -338,7 +384,8 @@ mrs_vins_republisher:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_vins_imu_filter:
   architecture: [amd64, arm64]
@@ -347,7 +394,8 @@ mrs_vins_imu_filter:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_open_vins_core:
   architecture: [amd64, arm64]
@@ -356,7 +404,8 @@ mrs_open_vins_core:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_aloam_estimator_plugin:
   architecture: [amd64, arm64]
@@ -365,7 +414,8 @@ mrs_aloam_estimator_plugin:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false
 
 mrs_aloam_core:
   architecture: [amd64, arm64]
@@ -374,4 +424,5 @@ mrs_aloam_core:
     unstable: master
     testing: release_candidate
     stable: release
-  ros_test: false
+  ros_test:
+    enabled: false