Extend testing (#431)

* (test) update scripts

* (test) run general tests

* Fix linting

* Change build process; Check build is in sync with library

* Start Xvfb if no display is available

* xvfb should not be enforced in package.json

* (test) nice iterator array

* fix bash linting of build script

* Fix: check for changed build

* Move test configs to Grunt

* Use Firefox Headless instead of Xvfb

* (test) improve visibilitiy of prints

* Build; add package-lock.json

* Remove bower.json

Dockerfile

@@ -1,8 +1,11 @@
 ARG ROS_DISTRO=melodic
 FROM ros:$ROS_DISTRO-ros-core
 
+ARG CI=true
+ENV CI=$CI
+
 # Dependencies for rosbridge
-RUN apt update && apt-get install -y xvfb firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
+RUN apt update && apt-get install -y firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
 
 # Install nvm, Node.js and node-gyp
 ARG NODE_VERSION=14

Gruntfile.js

@@ -26,11 +26,19 @@ module.exports = function(grunt) {
       ]
     },
     karma: {
-      build: {
-        configFile: './test/karma.conf.js',
+      options: {
         singleRun: true,
-        browsers: ['Firefox']
-      }
+        browsers: process.env.CI ? ['FirefoxHeadless'] : ['Firefox']
+      },
+      test: {
+        configFile: './test/karma.conf.js',
+      },
+      examples: {
+        configFile: './test/examples/karma.conf.js',
+      },
+      workersocket: {
+        configFile: './test/workersocket/karma.conf.js',
+      },
     },
     mochaTest: {
       options: {
@@ -98,8 +106,11 @@ module.exports = function(grunt) {
   });
 
   grunt.registerTask('dev', ['browserify', 'watch']);
-  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'browserify', 'karma']);
-  grunt.registerTask('build', ['test', 'uglify']);
+  grunt.registerTask('test', ['jshint', 'mochaTest:test', 'karma:test']);
+  grunt.registerTask('test-examples', ['mochaTest:examples', 'karma:examples']);
+  grunt.registerTask('test-tcp', ['mochaTest:tcp']);
+  grunt.registerTask('test-workersocket', ['karma:workersocket']);
+  grunt.registerTask('build', ['browserify', 'uglify']);
   grunt.registerTask('build_and_watch', ['watch']);
   grunt.registerTask('doc', ['clean', 'jsdoc']);
 };