Add schema checking test

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

rosidl_generator_tests/CMakeLists.txt

@@ -19,9 +19,11 @@ find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   find_package(rosidl_cmake REQUIRED)
   find_package(rosidl_generator_cpp REQUIRED)
+  find_package(rosidl_generator_type_hash REQUIRED)
   find_package(rosidl_runtime_c REQUIRED)
   find_package(rosidl_runtime_cpp REQUIRED)
   find_package(test_interface_files REQUIRED)
@@ -30,6 +32,7 @@ if(BUILD_TESTING)
   rosidl_generate_interfaces(${PROJECT_NAME}
     ${test_interface_files_MSG_FILES}
     ${test_interface_files_SRV_FILES}
+    ${test_interface_files_ACTION_FILES}
     ADD_LINTER_TESTS
     SKIP_INSTALL
   )
@@ -108,6 +111,10 @@ if(BUILD_TESTING)
     ${c_generator_target}
     rosidl_runtime_c::rosidl_runtime_c
   )
+
+  ament_add_pytest_test(test_hash_generator test/rosidl_generator_type_hash
+    ENV GENERATED_TEST_FILE_DIR=${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_type_hash/${PROJECT_NAME}
+  )
 endif()
 
 ament_package()

rosidl_generator_tests/package.xml

@@ -18,12 +18,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <test_depend>action_msgs</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_index_python</test_depend>
+  <test_depend>python3-jsonschema</test_depend>
   <test_depend>rosidl_cmake</test_depend>
   <test_depend>rosidl_generator_c</test_depend>
   <test_depend>rosidl_generator_cpp</test_depend>
+  <test_depend>rosidl_generator_type_hash</test_depend>
   <test_depend>rosidl_runtime_c</test_depend>
   <test_depend>rosidl_runtime_cpp</test_depend>
   <test_depend>test_interface_files</test_depend>

rosidl_generator_tests/test/rosidl_generator_type_hash/test_type_hash.py

@@ -0,0 +1,67 @@
+# Copyright 2023 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import json
+import os
+from pathlib import Path
+
+from ament_index_python import get_package_share_directory
+import jsonschema
+
+
+def test_type_hash():
+    """Test all rosidl_generator_type_hash output files against defined schemas."""
+    schema_dir = Path(get_package_share_directory('rosidl_generator_type_hash')) / 'resource'
+    resolver = jsonschema.validators.RefResolver(
+        base_uri=f'{schema_dir.as_uri()}/',
+        referrer=True,
+    )
+
+    generated_files_dir = Path(os.environ['GENERATED_TEST_FILE_DIR'])
+    validated_sha256 = 0
+    validated_json_in = 0
+    validated_json = 0
+    for namespace in generated_files_dir.iterdir():
+        for p in namespace.iterdir():
+            assert p.is_file()
+            assert p.suffix == '.json'
+            with p.open('r') as f:
+                instance = json.load(f)
+            subsuffix = p.with_suffix('').suffix
+            if subsuffix == '.sha256':
+                jsonschema.validate(
+                    instance=instance,
+                    schema={'$ref': 'TypeVersionHash.schema.json'},
+                    resolver=resolver,
+                )
+                validated_sha256 += 1
+            elif subsuffix == '.in':
+                jsonschema.validate(
+                    instance=instance,
+                    schema={'$ref': 'TypeDescriptionIn.schema.json'},
+                    resolver=resolver,
+                )
+                validated_json_in += 1
+            elif subsuffix == '':
+                jsonschema.validate(
+                    instance=instance,
+                    schema={'$ref': 'TypeDescription.schema.json'},
+                    resolver=resolver,
+                )
+                validated_json += 1
+            else:
+                assert False, 'Unknown file type to validate'
+    assert validated_sha256, 'Needed to validate at least one of each type of file.'
+    assert validated_json_in, 'Needed to validate at least one of each type of file.'
+    assert validated_json, 'Needed to validate at least one of each type of file.'

rosidl_generator_type_hash/CMakeLists.txt

@@ -22,6 +22,6 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 install(
-  DIRECTORY cmake
+  DIRECTORY cmake resource
   DESTINATION share/${PROJECT_NAME}
 )

rosidl_pycommon/rosidl_pycommon/__init__.py

@@ -226,7 +226,7 @@ def _expand_type_hash(variable_name, hash_string, indent=0):
     hash_length = 32
     bytes_per_line = 8
 
-    indent_str = ' ' * indent
+    indent_str = ' ' * (indent + 2)
     pattern = re.compile('RIHS(\d+)_([0-9a-f]{64})')
     match = pattern.match(hash_string)
     if not match:
@@ -237,6 +237,8 @@ def _expand_type_hash(variable_name, hash_string, indent=0):
     for i in range(hash_length):
         if i % bytes_per_line == 0:
             result += f'\n{indent_str}  '
-        result += f'0x{value[i * 2:i * 2 + 2]}, '
+        result += f'0x{value[i * 2:i * 2 + 2]},'
+        if i % bytes_per_line != bytes_per_line - 1:
+            result += ' '
     result += f'\n{indent_str}}}}};\n'
     return result

rosidl_runtime_c/CMakeLists.txt

@@ -30,6 +30,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   "rcutils"
   "rosidl_typesupport_interface")
+target_link_libraries(${PROJECT_NAME} m)
 if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
   set_target_properties(${PROJECT_NAME} PROPERTIES
     COMPILE_OPTIONS -Wall -Wextra -Wpedantic)