electrical_protocol: use ament_cmake_python instead of ament_python, …

…move calculator example back to test

src/mil_common/electrical_protocol/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.5)
+project(electrical_protocol)
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+
+# Install the python module for this package
+ament_python_install_package(${PROJECT_NAME})
+
+# include_directories(include ${rclcpp_INCLUDE_DIRS})
+# link_directories(${rclcpp_LIBRARY_DIRS})
+
+# Add a c++ library
+# add_library(${PROJECT_NAME} src/some_file.cpp)
+# target_link_libraries(${PROJECT_NAME} ${rclcpp_LIBRARIES})
+#
+# # Install C++ headers
+# install(
+#   DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION include/${PROJECT_NAME}
+#   FILES_MATCHING PATTERN "*.hpp")
+
+# Install python scripts
+# install(PROGRAMS test/calculator_device.py DESTINATION bin)
+install(PROGRAMS
+  test/calculator_device.py
+  DESTINATION lib/${PROJECT_NAME} )
+
+# Export package dependencies
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(ament_cmake_python)
+ament_export_dependencies(rclpy)
+# ament_export_include_directories(include ${rclcpp_INCLUDE_DIRS})
+# ament_export_libraries(${PROJECT_NAME} ${rclcpp_LIBRARIES})
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    test/test_simulated_basic.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
+endif()
+
+ament_package()

src/mil_common/electrical_protocol/package.xml

@@ -7,12 +7,13 @@
   <maintainer email="[email protected]">Cameron Brown</maintainer>
   <license>MIT</license>
 
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
+  <buildtool_depend>ament</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <exec_depend>rclpy</exec_depend>
+
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

src/mil_common/electrical_protocol/test/calculator_device.py

@@ -86,17 +86,17 @@ def __init__(self):
     def port_callback(self, msg: String):
         self.connect(msg.data, 115200)
 
-    def trigger(self, _: Empty.Request, __: Empty.Response):
+    def trigger(self, _: Empty.Request, response: Empty.Response):
         self.num_one, self.num_two = self.i, 1000 - self.i
         self.i += 1
         self.send_packet(
             RequestAddPacket(number_one=self.num_one, number_two=self.num_two),
         )
-        return Empty.Response()
+        return response
 
-    def trigger_two(self, _: Empty.Request, __: Empty.Response):
+    def trigger_two(self, _: Empty.Request, response: Empty.Response):
         self.send_packet(CharacterPacket("a", "small"))
-        return Empty.Response()
+        return response
 
     def on_packet_received(self, packet) -> None:
         if isinstance(packet, AnswerPacket):

src/mil_common/electrical_protocol/test/test_simulated_basic.py

@@ -26,7 +26,7 @@
 def generate_test_description():
     calculator_device = Node(
         package="electrical_protocol",
-        executable="calculator",
+        executable="calculator_device.py",
         name="calculator_device",
     )