Merge remote-tracking branch 'origin/futures' into futures

.github/workflows/rust_and_ros2.yml

@@ -0,0 +1,31 @@
+name: testing_ros
+
+on: [push, pull_request]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  testing_rolling:
+    runs-on: ubuntu-latest
+    
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile --tag r2r_test
+    - run: docker run r2r_test
+    
+  testing_foxy:
+    runs-on: ubuntu-latest
+    
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_foxy --tag r2r_test
+    - run: docker run r2r_test
+
+  testing_galactic:
+    runs-on: ubuntu-latest
+    
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_galactic --tag r2r_test
+    - run: docker run r2r_test

tests/Dockerfile

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+FROM kristoferb/spdesktop_ros2:rolling
+
+COPY . /r2r
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+RUN chmod +x /r2r/tests/test.sh
+ENTRYPOINT [ "/r2r/tests/test.sh" ]

tests/Dockerfile_foxy

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+FROM kristoferb/spdesktop_ros2:foxy
+
+COPY . /r2r
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+RUN chmod +x /r2r/tests/test.sh
+ENTRYPOINT [ "/r2r/tests/test.sh" ]

tests/Dockerfile_galactic

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+FROM kristoferb/spdesktop_ros2:galactic
+
+COPY . /r2r
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+RUN chmod +x /r2r/tests/test.sh
+ENTRYPOINT [ "/r2r/tests/test.sh" ]

tests/test.sh

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+#!/bin/bash
+
+source /opt/ros/rolling/setup.bash
+source /opt/ros/foxy/setup.bash
+source /opt/ros/galactic/setup.bash
+
+cd /r2r/
+/root/.cargo/bin/cargo test

tests/tokio_testing.rs

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+use futures::stream::StreamExt;
+use tokio::task;
+use std::sync::{Arc, Mutex};
+use r2r;
+
+#[tokio::test(flavor = "multi_thread")]
+async fn tokio_testing() -> Result<(), Box<dyn std::error::Error>> {
+    let ctx = r2r::Context::create()?;
+    let mut node = r2r::Node::create(ctx, "testnode", "")?;
+    let mut s_the_no = node.subscribe::<r2r::std_msgs::msg::Int32>("/the_no")?;
+    let mut s_new_no = node.subscribe::<r2r::std_msgs::msg::Int32>("/new_no")?;
+    let p_the_no = node.create_publisher::<r2r::std_msgs::msg::Int32>("/the_no")?;
+    let p_new_no = node.create_publisher::<r2r::std_msgs::msg::Int32>("/new_no")?;
+    let state = Arc::new(Mutex::new(0));
+
+    task::spawn(async move {
+        (0..10).for_each(|i| {
+            p_the_no.publish(&r2r::std_msgs::msg::Int32{data: i}).unwrap();
+        });
+    });
+
+    task::spawn(async move {
+        loop {
+            match s_the_no.next().await {
+                Some(msg) => {
+                    p_new_no.publish(&r2r::std_msgs::msg::Int32{data: msg.data + 10}).unwrap();
+                },
+                None => break,
+            }
+        }
+    });
+
+    let s = state.clone();
+    task::spawn(async move {
+        loop {
+            match s_new_no.next().await {
+                Some(msg) => {
+                    let i = msg.data;
+                    if i==19 {
+                        *s.lock().unwrap() = 19;
+                    }
+                },
+                None => break,
+            }
+        }
+    });
+
+    let handle = std::thread::spawn(move || {
+        for _ in 1..=30 {
+            node.spin_once(std::time::Duration::from_millis(100));
+            let x = state.lock().unwrap();
+            if *x == 19 {
+                break;
+            }
+        };
+
+        state.lock().unwrap().clone()
+    });
+    let x =  handle.join().unwrap();
+    assert_eq!(x, 19);
+    Ok(())
+}