Add Tests and Linter (#63)

* Add tests for tcp sender

* Add linter and pre-commit hooks

* Reformat with python black

* Add tests

* Add tests for server, client, publisher, subscriber, ros_service, unity_service, thread_pauser

* Fix pre-commit-config file name; Add client tests

* Add github workflow check

* Formatting

Author: sdiao

.github/PULL_REQUEST_TEMPLATE.md

@@ -16,7 +16,7 @@ Provide any relevant links here.
 
 ## Testing and Verification
 
-Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
 
 ### Test Configuration:
 - Unity Version: [e.g. Unity 2020.2.0f1]

.github/workflows/pre-commit.yaml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+    pull_request:
+
+jobs:
+    pre-commit:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v2
+            - uses: actions/setup-python@v2
+              with:
+                  python-version: 3.7.x
+            - uses: pre-commit/action@v2.0.0

.pre-commit-config.yaml

@@ -0,0 +1,12 @@
+repos:
+-   repo: https://github.com/python/black
+    rev: 19.3b0
+    hooks:
+    -   id: black
+        args: [--line-length=100]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+    -   id: trailing-whitespace
+        name: trailing-whitespace-markdown
+        types: [markdown]

CONTRIBUTING.md

@@ -1,7 +1,7 @@
 # Contribution Guidelines
 
-Thank you for your interest in contributing to Unity Robotics! To facilitate your 
-contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
 can be easily integrated.
 
 ## Communication
@@ -40,10 +40,10 @@ We run continuous integration on all PRs; all tests must be passing before the P
 
 All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
 
-All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
-Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) 
-can be used to format, encode, and lint your code according to the standard Unity 
-development conventions. Be aware that these Unity conventions will supersede the 
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
 Microsoft C# Coding Conventions where applicable.
 
 Please note that even if the code you are changing does not adhere to these guidelines,
@@ -60,5 +60,5 @@ email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## Contribution review
 
-Once you have a change ready following the above ground rules, simply make a 
+Once you have a change ready following the above ground rules, simply make a
 pull request in GitHub.

README.md

@@ -10,16 +10,16 @@ Instructions and examples on how to use this ROS package can be found on the [Un
 
 ## Community and Feedback
 
-The Unity Robotics projects are open-source and we encourage and welcome contributions. 
-If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+The Unity Robotics projects are open-source and we encourage and welcome contributions.
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
 and [code of conduct](CODE_OF_CONDUCT.md).
 
 ## Support
 For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
 
 For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/ROS-TCP-Endpoint/issues) using the provided templates and the Robotics team will investigate as soon as possible.
 
-For any other questions or feedback, connect directly with the 
+For any other questions or feedback, connect directly with the
 Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## License

config/params.yaml

@@ -1 +1,3 @@
-ROS_IP: 127.0.0.1
+ROS_IP: 0.0.0.0
+ROS_TCP_PORT: 10000
+

requirements.txt

@@ -0,0 +1,3 @@
+black
+pre-commit
+pytest-cov

setup.py

@@ -4,8 +4,6 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
-setup_args = generate_distutils_setup(
-    packages=['ros_tcp_endpoint'],
-    package_dir={'': 'src'})
+setup_args = generate_distutils_setup(packages=["ros_tcp_endpoint"], package_dir={"": "src"})
 
 setup(**setup_args)

src/ros_tcp_endpoint/client.py

@@ -28,6 +28,7 @@ class ClientThread(threading.Thread):
     Thread class to read all data from a connection and pass along the data to the
     desired source.
     """
+
     def __init__(self, conn, tcp_server, incoming_ip, incoming_port):
         """
         Set class variables
@@ -65,7 +66,7 @@ def read_int32(conn):
 
         """
         raw_bytes = ClientThread.recvall(conn, 4)
-        num = struct.unpack('<I', raw_bytes)[0]
+        num = struct.unpack("<I", raw_bytes)[0]
         return num
 
     @staticmethod
@@ -81,7 +82,7 @@ def read_string(conn):
         str_len = ClientThread.read_int32(conn)
 
         str_bytes = ClientThread.recvall(conn, str_len)
-        decoded_str = str_bytes.decode('utf-8')
+        decoded_str = str_bytes.decode("utf-8")
 
         return decoded_str
 
@@ -91,7 +92,7 @@ def read_message(conn):
         Decode destination and full message size from socket connection.
         Grab bytes in chunks until full message has been read.
         """
-        data = b''
+        data = b""
 
         destination = ClientThread.read_string(conn)
         full_message_size = ClientThread.read_int32(conn)
@@ -125,9 +126,9 @@ def serialize_message(destination, message):
         Returns:
             serialized destination and message as a list of bytes
         """
-        dest_bytes = destination.encode('utf-8')
+        dest_bytes = destination.encode("utf-8")
         length = len(dest_bytes)
-        dest_info = struct.pack('<I%ss' % length, length, dest_bytes)
+        dest_info = struct.pack("<I%ss" % length, length, dest_bytes)
 
         serial_response = BytesIO()
         message.serialize(serial_response)
@@ -139,7 +140,7 @@ def serialize_message(destination, message):
         # SEEK_END or 2 - end of the stream; offset is usually negative
         response_len = serial_response.seek(0, 2)
 
-        msg_length = struct.pack('<I', response_len)
+        msg_length = struct.pack("<I", response_len)
         serialized_message = dest_info + msg_length + serial_response.getvalue()
 
         return serialized_message
@@ -166,52 +167,62 @@ def run(self):
             while not halt_event.is_set():
                 destination, data = self.read_message(self.conn)
 
-                if destination == '':
-                    #ignore this keepalive message, listen for more
+                if destination == "":
+                    # ignore this keepalive message, listen for more
                     pass
-                elif destination == '__syscommand':
-                    #handle a system command, such as registering new topics
+                elif destination == "__syscommand":
+                    # handle a system command, such as registering new topics
                     self.tcp_server.handle_syscommand(data)
-                elif destination == '__srv':
+                elif destination == "__srv":
                     # handle a ros service message request, or a unity service message response
                     srv_message = RosUnitySrvMessage().deserialize(data)
                     if not srv_message.is_request:
-                        self.tcp_server.send_unity_service_response(srv_message.srv_id, srv_message.payload)
+                        self.tcp_server.send_unity_service_response(
+                            srv_message.srv_id, srv_message.payload
+                        )
                         continue
-                    elif srv_message.topic == '__topic_list':
+                    elif srv_message.topic == "__topic_list":
                         response = self.tcp_server.topic_list(data)
                     elif srv_message.topic not in self.tcp_server.source_destination_dict.keys():
-                        error_msg = "Service destination '{}' is not registered! Known topics are: {} "\
-                            .format(srv_message.topic, self.tcp_server.source_destination_dict.keys())
+                        error_msg = "Service destination '{}' is not registered! Known topics are: {} ".format(
+                            srv_message.topic, self.tcp_server.source_destination_dict.keys()
+                        )
                         self.tcp_server.send_unity_error(error_msg)
                         rospy.logerr(error_msg)
                         # TODO: send a response to Unity anyway?
-                        continue                        
+                        continue
                     else:
-                        ros_communicator = self.tcp_server.source_destination_dict[srv_message.topic]
+                        ros_communicator = self.tcp_server.source_destination_dict[
+                            srv_message.topic
+                        ]
                         response = ros_communicator.send(srv_message.payload)
                         if not response:
-                            error_msg = "No response data from service '{}'!".format(srv_message.topic)
+                            error_msg = "No response data from service '{}'!".format(
+                                srv_message.topic
+                            )
                             self.tcp_server.send_unity_error(error_msg)
                             rospy.logerr(error_msg)
                             # TODO: send a response to Unity anyway?
                             continue
-                    
+
                     serial_response = BytesIO()
                     response.serialize(serial_response)
-                    response_message = RosUnitySrvMessage(srv_message.srv_id, False, '', serial_response.getvalue())
+                    response_message = RosUnitySrvMessage(
+                        srv_message.srv_id, False, "", serial_response.getvalue()
+                    )
                     self.tcp_server.unity_tcp_sender.send_unity_message("__srv", response_message)
                 elif destination in self.tcp_server.source_destination_dict:
                     ros_communicator = self.tcp_server.source_destination_dict[destination]
                     response = ros_communicator.send(data)
                 else:
-                    error_msg = "Topic '{}' is not registered! Known topics are: {} "\
-                        .format(destination, self.tcp_server.source_destination_dict.keys())
+                    error_msg = "Topic '{}' is not registered! Known topics are: {} ".format(
+                        destination, self.tcp_server.source_destination_dict.keys()
+                    )
                     self.tcp_server.send_unity_error(error_msg)
                     rospy.logerr(error_msg)
         except IOError as e:
             rospy.logerr("Exception: {}".format(e))
         finally:
             halt_event.set()
             self.conn.close()
-            rospy.loginfo("Disconnected from {}".format(self.incoming_ip));
+            rospy.loginfo("Disconnected from {}".format(self.incoming_ip))

src/ros_tcp_endpoint/communication.py

@@ -15,8 +15,9 @@
 
 class RosSender:
     """
-        Base class for ROS communication where data is sent to the ROS network.
+    Base class for ROS communication where data is sent to the ROS network.
     """
+
     def __init__(self):
         pass
 
@@ -26,8 +27,9 @@ def send(self, *args):
 
 class RosReceiver:
     """
-        Base class for ROS communication where data is being sent outside of the ROS network.
+    Base class for ROS communication where data is being sent outside of the ROS network.
     """
+
     def __init__(self):
         pass