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YuanYuYuanYuanYuYuan
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add debugging
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‎debugging/rmw-zenoh-rs-test/Dockerfile‎

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FROM ros:jazzy-ros-base
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# Install system dependencies
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RUN apt-get update && apt-get install -y \
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curl \
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build-essential \
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libclang-dev \
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libyaml-dev \
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ros-jazzy-rcl \
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ros-jazzy-test-msgs \
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ros-jazzy-mimick-vendor \
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ros-jazzy-osrf-testing-tools-cpp \
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ros-jazzy-rcpputils \
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ros-jazzy-fastcdr \
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ros-jazzy-rosidl-typesupport-fastrtps-c \
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ros-jazzy-rosidl-typesupport-fastrtps-cpp \
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git \
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&& rm -rf /var/lib/apt/lists/*
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# Install Rust
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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
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ENV PATH="/root/.cargo/bin:${PATH}"
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WORKDIR /workspace

‎debugging/rmw-zenoh-rs-test/docker-compose.yml‎

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services:
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rmw-zenoh-rs-test:
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build:
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context: .
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dockerfile: Dockerfile
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container_name: rmw-zenoh-rs-test
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working_dir: /workspace
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volumes:
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- ../../:/workspace/ros-z:ro
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- /home/circle/Workings/ZettaScale/project/nix-ros/ws/src/rclcpp:/workspace/rclcpp:ro
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- /home/circle/Workings/ZettaScale/project/nix-ros/ws/src/rcl:/workspace/rcl:ro
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- /home/circle/Workings/ZettaScale/project/nix-ros/ws/src/system_tests:/workspace/system_tests:ro
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- ./test-results:/workspace/test-results
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- ./test-rcl-excluded.sh:/workspace/test-rcl-excluded.sh:ro
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- ./test-system-tests.sh:/workspace/test-system-tests.sh:ro
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- ./test-system-tests-build.sh:/workspace/test-system-tests-build.sh:ro
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environment:
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- RMW_IMPLEMENTATION=rmw_zenoh_rs
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tty: true
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stdin_open: true

‎debugging/rmw-zenoh-rs-test/run-tests.sh‎

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#!/bin/bash
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set -e
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echo "=== rmw_zenoh_rs Executor Tests ==="
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echo "Date: $(date)"
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echo "ROS Distro: jazzy"
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echo ""
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# Setup
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RESULTS_DIR=/workspace/test-results
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mkdir -p $RESULTS_DIR
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# Source ROS
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source /opt/ros/jazzy/setup.bash
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# Install dependencies
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echo "=== Installing system dependencies ==="
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apt-get update
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apt-get install -y \
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curl \
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build-essential \
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libclang-dev \
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ros-jazzy-rclcpp \
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ros-jazzy-test-msgs \
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ros-jazzy-mimick-vendor \
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ros-jazzy-osrf-testing-tools-cpp \
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ros-jazzy-ament-cmake-google-benchmark \
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ros-jazzy-performance-test-fixture \
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ros-jazzy-rcpputils \
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ros-jazzy-fastcdr \
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ros-jazzy-rosidl-typesupport-fastrtps-c \
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ros-jazzy-rosidl-typesupport-fastrtps-cpp \
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git
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# Install Rust
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echo "=== Installing Rust ==="
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if ! command -v cargo &> /dev/null; then
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curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
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source "$HOME/.cargo/env"
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fi
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export PATH="$HOME/.cargo/bin:$PATH"
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rustc --version
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cargo --version
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# Create build workspace
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echo "=== Creating workspace ==="
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rm -rf /workspace/ws
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mkdir -p /workspace/ws/src
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cd /workspace/ws/src
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# Copy ros-z sources (excluding _tmp and other non-essential directories)
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echo "=== Copying ros-z sources ==="
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cp -r /workspace/ros-z /workspace/ws/src/ros-z
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# Add COLCON_IGNORE to directories that shouldn't be scanned
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for dir in _tmp book .github scripts ros-z-tests ros-z-console ros-z-py assets nix .config .claude; do
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if [ -d "/workspace/ws/src/ros-z/$dir" ]; then
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touch "/workspace/ws/src/ros-z/$dir/COLCON_IGNORE"
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fi
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done
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# Copy local rclcpp fork (with patches)
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echo "=== Copying local rclcpp fork ==="
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cp -r /workspace/rclcpp /workspace/ws/src/rclcpp
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# Copy local rcl fork (with patches)
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echo "=== Copying local rcl fork ==="
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cp -r /workspace/rcl /workspace/ws/src/rcl
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# Build rmw_zenoh_rs
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echo "=== Building rmw_zenoh_rs ==="
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cd /workspace/ws
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source /opt/ros/jazzy/setup.bash
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colcon build --packages-select rmw_zenoh_rs --cmake-args -DCMAKE_BUILD_TYPE=Release
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# Source the built workspace
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source /workspace/ws/install/setup.bash
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# Build rcl and rclcpp with tests (colcon resolves dependencies)
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echo "=== Building rcl and rclcpp with tests ==="
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colcon build --packages-up-to rclcpp --cmake-args -DBUILD_TESTING=ON
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# Source again after building
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source /workspace/ws/install/setup.bash
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# Set RMW implementation
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export RMW_IMPLEMENTATION=rmw_zenoh_rs
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echo ""
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echo "=== Verifying RMW implementation ==="
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echo "RMW_IMPLEMENTATION=$RMW_IMPLEMENTATION"
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# Check if rmw_zenoh_rs library exists
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if [ -f "/workspace/ws/install/rmw_zenoh_rs/lib/librmw_zenoh_rs.so" ]; then
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echo "rmw_zenoh_rs library found!"
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else
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echo "ERROR: rmw_zenoh_rs library not found!"
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ls -la /workspace/ws/install/rmw_zenoh_rs/lib/ 2>/dev/null || echo "Directory not found"
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exit 1
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fi
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echo ""
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echo "=== Running Executor Tests with rmw_zenoh_rs ==="
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echo ""
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# Navigate to build directory for tests
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cd /workspace/ws/build/rclcpp
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# Run executor tests and capture results
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TESTS=(
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"test_executors"
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"test_executors_intraprocess"
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"test_executors_busy_waiting"
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"test_executors_warmup"
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"test_executors_timer_cancel_behavior"
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"test_executors_callback_group_behavior"
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)
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for test in "${TESTS[@]}"; do
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echo ""
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echo "=== Running $test ==="
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# Run test with timeout and capture output
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if timeout 180 ctest -R "^${test}$" -V 2>&1 | tee "$RESULTS_DIR/${test}.log"; then
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echo "RESULT: $test PASSED"
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echo "PASSED" >> "$RESULTS_DIR/${test}.result"
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else
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EXIT_CODE=$?
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echo "RESULT: $test FAILED (exit code: $EXIT_CODE)"
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echo "FAILED (exit code: $EXIT_CODE)" >> "$RESULTS_DIR/${test}.result"
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fi
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done
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# Summary
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echo ""
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echo "=== Test Summary ==="
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echo ""
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for test in "${TESTS[@]}"; do
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if [ -f "$RESULTS_DIR/${test}.result" ]; then
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echo "$test: $(cat $RESULTS_DIR/${test}.result)"
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else
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echo "$test: NOT RUN"
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fi
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done
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echo ""
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echo "=== Detailed logs saved to $RESULTS_DIR ==="
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ls -la $RESULTS_DIR/

‎debugging/rmw-zenoh-rs-test/test-rcl-excluded.sh‎

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#!/bin/bash
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set -e
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echo "=== Testing test_count_matched and test_events ==="
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echo "Date: $(date)"
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echo ""
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source /opt/ros/jazzy/setup.bash
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# Install rmw_zenoh_cpp if not present
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apt-get update > /dev/null 2>&1
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apt-get install -y ros-jazzy-rmw-zenoh-cpp > /dev/null 2>&1
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# Create workspace
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echo "=== Setting up workspace ==="
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rm -rf /workspace/ws
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mkdir -p /workspace/ws/src
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cd /workspace/ws/src
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# Copy ros-z sources
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cp -r /workspace/ros-z /workspace/ws/src/ros-z
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# Add COLCON_IGNORE to non-essential directories
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for dir in _tmp book .github scripts ros-z-tests ros-z-console ros-z-py assets nix .config .claude; do
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if [ -d "/workspace/ws/src/ros-z/$dir" ]; then
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touch "/workspace/ws/src/ros-z/$dir/COLCON_IGNORE"
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fi
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done
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# Copy rcl fork for testing
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cp -r /workspace/rcl /workspace/ws/src/rcl
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# Build rmw_zenoh_rs
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echo "=== Building rmw_zenoh_rs ==="
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cd /workspace/ws
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colcon build --packages-select rmw_zenoh_rs --cmake-args -DCMAKE_BUILD_TYPE=Release 2>&1 | tail -5
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# Source workspace
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source /workspace/ws/install/setup.bash
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# Build rcl tests only
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echo "=== Building rcl tests ==="
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colcon build --packages-select rcl --cmake-args -DBUILD_TESTING=ON 2>&1 | tail -5
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source /workspace/ws/install/setup.bash
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cd /workspace/ws/build/rcl/test
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echo ""
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echo "=============================================="
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echo "=== Testing with rmw_zenoh_cpp ==="
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echo "=============================================="
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echo ""
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echo "### test_count_matched (rmw_zenoh_cpp) ###"
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RMW_IMPLEMENTATION=rmw_zenoh_cpp timeout 60 ./test_count_matched 2>&1 || echo "Exit code: $?"
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echo ""
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echo "### test_events (rmw_zenoh_cpp) ###"
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RMW_IMPLEMENTATION=rmw_zenoh_cpp timeout 60 ./test_events 2>&1 || echo "Exit code: $?"
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echo ""
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echo "=============================================="
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echo "=== Testing with rmw_zenoh_rs ==="
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echo "=============================================="
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echo ""
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echo "### test_count_matched (rmw_zenoh_rs) ###"
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RMW_IMPLEMENTATION=rmw_zenoh_rs timeout 60 ./test_count_matched 2>&1 || echo "Exit code: $?"
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echo ""
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echo "### test_events (rmw_zenoh_rs) ###"
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RMW_IMPLEMENTATION=rmw_zenoh_rs timeout 60 ./test_events 2>&1 || echo "Exit code: $?"
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echo ""
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echo "=== Done ==="

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