From 3cf167d06c91a4da606e75895a37a3883dca8440 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Wed, 14 Aug 2024 14:51:31 +0200
Subject: [PATCH] [CI] Add coveragepy and remove ignore: test (#1668)

---
 codecov.yml                                      |  2 --
 controller_manager/package.xml                   |  1 +
 .../test/test_spawner_unspawner.cpp              | 16 +++++++++++-----
 3 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/codecov.yml b/codecov.yml
index 97106f32ff..764afc34e6 100644
--- a/codecov.yml
+++ b/codecov.yml
@@ -14,8 +14,6 @@ fixes:
 comment:
   layout: "diff, flags, files"
   behavior: default
-ignore:
-  - "**/test"
 flags:
   unittests:
     paths:
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
index 47b640c892..9f9a9bf796 100644
--- a/controller_manager/package.xml
+++ b/controller_manager/package.xml
@@ -31,6 +31,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>python3-coverage</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
index 83080ee0fa..fa27ee2c97 100644
--- a/controller_manager/test/test_spawner_unspawner.cpp
+++ b/controller_manager/test/test_spawner_unspawner.cpp
@@ -27,6 +27,7 @@
 
 using ::testing::_;
 using ::testing::Return;
+const char coveragepy_script[] = "python3 -m coverage run --append --branch";
 
 using namespace std::chrono_literals;
 class TestLoadController : public ControllerManagerFixture<controller_manager::ControllerManager>
@@ -68,14 +69,18 @@ class TestLoadController : public ControllerManagerFixture<controller_manager::C
 
 int call_spawner(const std::string extra_args)
 {
-  std::string spawner_script = "ros2 run controller_manager spawner ";
+  std::string spawner_script =
+    std::string(coveragepy_script) +
+    " $(ros2 pkg prefix controller_manager)/lib/controller_manager/spawner ";
   return std::system((spawner_script + extra_args).c_str());
 }
 
 int call_unspawner(const std::string extra_args)
 {
-  std::string spawner_script = "ros2 run controller_manager unspawner ";
-  return std::system((spawner_script + extra_args).c_str());
+  std::string unspawner_script =
+    std::string(coveragepy_script) +
+    " $(ros2 pkg prefix controller_manager)/lib/controller_manager/unspawner ";
+  return std::system((unspawner_script + extra_args).c_str());
 }
 
 TEST_F(TestLoadController, spawner_with_no_arguments_errors)
@@ -301,8 +306,9 @@ TEST_F(TestLoadController, unload_on_kill)
   cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
   std::stringstream ss;
   ss << "timeout --signal=INT 5 "
-     << "ros2 run controller_manager spawner ctrl_3 -c test_controller_manager"
-     << " --unload-on-kill";
+     << std::string(coveragepy_script) +
+          " $(ros2 pkg prefix controller_manager)/lib/controller_manager/spawner "
+     << "ctrl_3 -c test_controller_manager --unload-on-kill";
 
   EXPECT_NE(std::system(ss.str().c_str()), 0)
     << "timeout should have killed spawner and returned non 0 code";