Feature/ci pipeline

.github/workflows/ci.yml

@@ -0,0 +1,61 @@
+name: CI
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build-and-test:
+    name: Build & Test
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install System Dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            build-essential \
+            cmake \
+            git \
+            python3 \
+            python3-pip \
+            python3-venv \
+            libgrpc++-dev \
+            libprotobuf-dev \
+            protobuf-compiler \
+            protobuf-compiler-grpc \
+            nlohmann-json3-dev
+
+      - name: Set up Python Virtual Environment
+        run: |
+          python3 -m venv venv
+          ./venv/bin/pip install -r generator/requirements.txt
+          echo "$GITHUB_WORKSPACE/venv/bin" >> $GITHUB_PATH
+
+      - name: Run Generator Parser Tests
+        run: |
+          python3 generator/test/test_parser.py
+
+      - name: Run Generator Dialect & Protoc Validation Tests
+        run: |
+          python3 generator/test/test_generator.py
+
+      - name: "Verify C++ Build & Run Tests (Dialect: common)"
+        run: |
+          cmake -B build -S . -DCMAKE_BUILD_TYPE=Release -DMAVLINK_DIALECT=common
+          cmake --build build -j$(nproc)
+          cd build && ctest --output-on-failure
+
+      - name: "Verify C++ Build & Run Tests (Dialect: minimal)"
+        run: |
+          rm -rf build
+          cmake -B build -S . -DCMAKE_BUILD_TYPE=Release -DMAVLINK_DIALECT=minimal
+          cmake --build build -j$(nproc)
+          cd build && ctest --output-on-failure

CMakeLists.txt

@@ -17,5 +17,8 @@ if(NOT GEN_RESULT EQUAL 0)
     message(FATAL_ERROR "MAVLink to Protobuf generation failed!")
 endif()
 
+# Enable CTest suite
+enable_testing()
+
 # Add bridge module subdirectory
 add_subdirectory(bridge)

bridge/CMakeLists.txt

@@ -134,4 +134,54 @@ if (CMAKE_BUILD_TYPE STREQUAL "Debug")
   target_compile_options(${PROJECT_NAME} PRIVATE -O0 -g)
 else()
   target_compile_options(${PROJECT_NAME} PRIVATE -O3)
-endif()
+endif()
+
+# ============================================================================
+# C++ Testing Target
+# ============================================================================
+enable_testing()
+
+add_executable(test_runner
+  test/test_runner.cc
+  test/test_router.cc
+  test/test_converter.cc
+  src/service/Router.cc
+  src/service/Logger.cc
+  src/mavlink/MessageConverter.cc
+  $<TARGET_OBJECTS:proto_lib>
+)
+
+target_include_directories(test_runner PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
+  ${GENERATED_PROTOBUF_PATH}
+  ${CMAKE_CURRENT_BINARY_DIR}/generated
+)
+
+target_include_directories(test_runner SYSTEM PRIVATE
+  ${LIBMAV_INCLUDE_DIR}
+)
+
+add_dependencies(test_runner proto_lib)
+
+target_link_libraries(test_runner PRIVATE
+  ${Protobuf_LIBRARIES}
+  ${GRPC_LIBRARIES}
+  ${GRPCPP_LIBRARIES}
+  Threads::Threads
+)
+
+set_target_properties(test_runner PROPERTIES
+  CXX_STANDARD 17
+  CXX_STANDARD_REQUIRED ON
+)
+
+target_compile_definitions(test_runner PRIVATE MAVLINK_DIALECT="${MAVLINK_DIALECT}")
+target_compile_options(test_runner PRIVATE -Wall -Wextra -Werror)
+
+if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+  target_compile_options(test_runner PRIVATE -O0 -g)
+else()
+  target_compile_options(test_runner PRIVATE -O3)
+endif()
+
+add_test(NAME bridge_tests COMMAND test_runner)

bridge/test/test_converter.cc

@@ -0,0 +1,96 @@
+#include "mavlink/MessageConverter.h"
+#include <mav/MessageSet.h>
+#include <iostream>
+#include <cstdlib>
+#include <unistd.h>
+
+#define TEST_ASSERT(cond) \
+  do { \
+    if (!(cond)) { \
+      std::cerr << "Assertion failed: " #cond " at " << __FILE__ << ":" << __LINE__ << std::endl; \
+      std::abort(); \
+    } \
+  } while (0)
+
+using namespace mavlink2grpc;
+
+void test_message_converter_heartbeat() {
+  std::cout << "Running test_message_converter_heartbeat..." << std::endl;
+
+  // Locate the message definition file
+  std::string xml_path = "";
+  std::vector<std::string> paths = {
+    "third_party/mavlink/message_definitions/v1.0/common.xml",
+    "../third_party/mavlink/message_definitions/v1.0/common.xml",
+    "mavlink/message_definitions/v1.0/common.xml",
+    "../mavlink/message_definitions/v1.0/common.xml"
+  };
+
+  for (const auto& p : paths) {
+    if (access(p.c_str(), F_OK) != -1) {
+      xml_path = p;
+      break;
+    }
+  }
+
+  if (xml_path.empty()) {
+    std::cerr << "Warning: Could not find common.xml definition. Skipping converter tests." << std::endl;
+    return;
+  }
+
+  // Load MessageSet
+  mav::MessageSet message_set(xml_path);
+
+  // 1. Create a mav::Message for HEARTBEAT
+  mav::Message mav_msg = message_set.create("HEARTBEAT");
+  TEST_ASSERT(mav_msg.name() == "HEARTBEAT");
+  TEST_ASSERT(mav_msg.id() == 0);
+
+  // Set header partner ID (represents system ID and component ID)
+  // libmav sets source system/component via setFromConnectionPartner
+  // Let's set some fields on the message
+  mav_msg.set("type", static_cast<uint8_t>(2)); // MAV_TYPE_QUADROTOR
+  mav_msg.set("autopilot", static_cast<uint8_t>(3)); // MAV_AUTOPILOT_ARDUPILOTMEGA
+  mav_msg.set("base_mode", static_cast<uint8_t>(81));
+  mav_msg.set("custom_mode", static_cast<uint32_t>(12345));
+  mav_msg.set("system_status", static_cast<uint8_t>(3)); // MAV_STATE_STANDBY
+  mav_msg.set("mavlink_version", static_cast<uint8_t>(3));
+
+  // 2. Convert to Protobuf
+  // We can pass system_id = 42 and component_id = 191 by simulating a connection partner if needed,
+  // but let's check what default to_proto does or if it gets them from the message source.
+  auto proto_opt = MessageConverter::to_proto(mav_msg, 123456789ULL);
+  TEST_ASSERT(proto_opt.has_value());
+
+  auto proto_msg = proto_opt.value();
+  TEST_ASSERT(proto_msg.message_id() == 0);
+  TEST_ASSERT(proto_msg.timestamp_usec() == 123456789ULL);
+  TEST_ASSERT(proto_msg.has_heartbeat());
+
+  const auto& heartbeat = proto_msg.heartbeat();
+  TEST_ASSERT(heartbeat.type() == 2);
+  TEST_ASSERT(heartbeat.autopilot() == 3);
+  TEST_ASSERT(heartbeat.base_mode() == 81);
+  TEST_ASSERT(heartbeat.custom_mode() == 12345);
+  TEST_ASSERT(heartbeat.system_status() == 3);
+
+  // 3. Convert back from Protobuf to mav::Message
+  auto back_opt = MessageConverter::from_proto(proto_msg, message_set);
+  TEST_ASSERT(back_opt.has_value());
+
+  auto back_msg = back_opt.value();
+  TEST_ASSERT(back_msg.name() == "HEARTBEAT");
+  TEST_ASSERT(back_msg.id() == 0);
+
+  TEST_ASSERT(back_msg.get<uint8_t>("type") == 2);
+  TEST_ASSERT(back_msg.get<uint8_t>("autopilot") == 3);
+  TEST_ASSERT(back_msg.get<uint8_t>("base_mode") == 81);
+  TEST_ASSERT(back_msg.get<uint32_t>("custom_mode") == 12345);
+  TEST_ASSERT(back_msg.get<uint8_t>("system_status") == 3);
+
+  std::cout << "test_message_converter_heartbeat passed!" << std::endl;
+}
+
+void run_converter_tests() {
+  test_message_converter_heartbeat();
+}

bridge/test/test_router.cc

@@ -0,0 +1,139 @@
+#include "service/Router.h"
+#include <iostream>
+#include <cstdlib>
+
+#define TEST_ASSERT(cond) \
+  do { \
+    if (!(cond)) { \
+      std::cerr << "Assertion failed: " #cond " at " << __FILE__ << ":" << __LINE__ << std::endl; \
+      std::abort(); \
+    } \
+  } while (0)
+
+using namespace mavlink2grpc;
+
+void test_router_basic() {
+  std::cout << "Running test_router_basic..." << std::endl;
+  Router router;
+
+  TEST_ASSERT(router.subscription_count() == 0);
+
+  // Subscribe client 1 with no filters (system_id=0, component_id=0)
+  mavlink::StreamFilter filter1;
+  filter1.set_system_id(0);
+  filter1.set_component_id(0);
+
+  size_t client1_received = 0;
+  uint64_t sub1 = router.subscribe(filter1, [&](const mavlink::MavlinkMessage&) {
+    client1_received++;
+    return true;
+  });
+
+  TEST_ASSERT(sub1 == 1);
+  TEST_ASSERT(router.subscription_count() == 1);
+
+  // Send a message
+  mavlink::MavlinkMessage msg1;
+  msg1.set_system_id(1);
+  msg1.set_component_id(1);
+  msg1.set_message_id(0); // HEARTBEAT
+
+  size_t routed = router.route_message(msg1);
+  TEST_ASSERT(routed == 1);
+  TEST_ASSERT(client1_received == 1);
+
+  // Unsubscribe client 1
+  bool unsub_ok = router.unsubscribe(sub1);
+  TEST_ASSERT(unsub_ok);
+  TEST_ASSERT(router.subscription_count() == 0);
+
+  routed = router.route_message(msg1);
+  TEST_ASSERT(routed == 0);
+  TEST_ASSERT(client1_received == 1); // should remain 1
+
+  std::cout << "test_router_basic passed!" << std::endl;
+}
+
+void test_router_filters() {
+  std::cout << "Running test_router_filters..." << std::endl;
+  Router router;
+
+  // Filter for system 1, component 1, message 30 (ATTITUDE) only
+  mavlink::StreamFilter filter;
+  filter.set_system_id(1);
+  filter.set_component_id(1);
+  filter.add_message_ids(30);
+
+  size_t received = 0;
+  router.subscribe(filter, [&](const mavlink::MavlinkMessage&) {
+    received++;
+    return true;
+  });
+
+  // Message 1: Matches all
+  mavlink::MavlinkMessage msg1;
+  msg1.set_system_id(1);
+  msg1.set_component_id(1);
+  msg1.set_message_id(30);
+  router.route_message(msg1);
+  TEST_ASSERT(received == 1);
+
+  // Message 2: Different system ID (2)
+  mavlink::MavlinkMessage msg2;
+  msg2.set_system_id(2);
+  msg2.set_component_id(1);
+  msg2.set_message_id(30);
+  router.route_message(msg2);
+  TEST_ASSERT(received == 1); // shouldn't increase
+
+  // Message 3: Different component ID (2)
+  mavlink::MavlinkMessage msg3;
+  msg3.set_system_id(1);
+  msg3.set_component_id(2);
+  msg3.set_message_id(30);
+  router.route_message(msg3);
+  TEST_ASSERT(received == 1); // shouldn't increase
+
+  // Message 4: Different message ID (0 - HEARTBEAT)
+  mavlink::MavlinkMessage msg4;
+  msg4.set_system_id(1);
+  msg4.set_component_id(1);
+  msg4.set_message_id(0);
+  router.route_message(msg4);
+  TEST_ASSERT(received == 1); // shouldn't increase
+
+  std::cout << "test_router_filters passed!" << std::endl;
+}
+
+void test_router_cleanup() {
+  std::cout << "Running test_router_cleanup..." << std::endl;
+  Router router;
+
+  mavlink::StreamFilter filter;
+
+  // Client whose write fails (simulates disconnected client)
+  router.subscribe(filter, [](const mavlink::MavlinkMessage&) {
+    return false; // write failed
+  });
+
+  TEST_ASSERT(router.subscription_count() == 1);
+
+  // Route a message - this will trigger write failure and mark inactive
+  mavlink::MavlinkMessage msg;
+  size_t routed = router.route_message(msg);
+
+  TEST_ASSERT(routed == 0);
+  TEST_ASSERT(router.subscription_count() == 0); // Active subscription count should drop to 0
+
+  // Cleanup should remove it from internal list
+  size_t cleaned = router.cleanup_inactive();
+  TEST_ASSERT(cleaned == 1);
+
+  std::cout << "test_router_cleanup passed!" << std::endl;
+}
+
+void run_router_tests() {
+  test_router_basic();
+  test_router_filters();
+  test_router_cleanup();
+}

bridge/test/test_runner.cc

@@ -0,0 +1,19 @@
+#include <iostream>
+
+extern void run_router_tests();
+extern void run_converter_tests();
+
+int main() {
+    std::cout << "========================================" << std::endl;
+    std::cout << "Starting C++ Unit Tests" << std::endl;
+    std::cout << "========================================" << std::endl;
+
+    run_router_tests();
+    run_converter_tests();
+
+    std::cout << "========================================" << std::endl;
+    std::cout << "All C++ Unit Tests Passed Successfully!" << std::endl;
+    std::cout << "========================================" << std::endl;
+
+    return 0;
+}