test: include integration tests into coverage report (#69)

* test: add integration tests to coverage calculation
* remove dead code

Author: mfaferek93

.github/workflows/ci.yml

@@ -93,15 +93,16 @@ jobs:
             --cmake-args -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON \
             --event-handlers console_direct+
 
-      - name: Run unit tests only
-        # Run only unit tests for coverage:
+      - name: Run unit and integration tests for coverage
+        # Run all tests for coverage (excluding linters):
         # -LE linter: exclude linters by label
-        # -E integration: exclude integration tests by name regex
+        # Integration tests now capture coverage via GCOV_PREFIX env vars
+        # set in test launch files (test_integration.test.py, test_cors.test.py)
         run: |
           source /opt/ros/jazzy/setup.bash
           source install/setup.bash
           colcon test \
-            --ctest-args -LE linter -E integration \
+            --ctest-args -LE linter \
             --event-handlers console_direct+
 
       - name: Generate coverage report
@@ -150,7 +151,7 @@ jobs:
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
           files: coverage.info
-          flags: unittests
+          flags: unittests,integration
           name: ros2_medkit-coverage
           fail_ci_if_error: true
           verbose: true

src/ros2_medkit_gateway/design/index.rst

@@ -76,8 +76,6 @@ The following diagram shows the relationships between the main components of the
            + list_parameters(): ParameterResult
            + get_parameter(): ParameterResult
            + set_parameter(): ParameterResult
-           + describe_parameter(): ParameterResult
-           + is_node_available(): bool
        }
 
        class NativeTopicSampler {

src/ros2_medkit_gateway/include/ros2_medkit_gateway/configuration_manager.hpp

@@ -57,17 +57,6 @@ class ConfigurationManager {
   /// @return ParameterResult with {name, value, type}
   ParameterResult set_parameter(const std::string & node_name, const std::string & param_name, const json & value);
 
-  /// Describe a parameter (get metadata)
-  /// @param node_name Fully qualified node name
-  /// @param param_name Parameter name
-  /// @return ParameterResult with parameter descriptor info
-  ParameterResult describe_parameter(const std::string & node_name, const std::string & param_name);
-
-  /// Check if a node exists and is reachable for parameter operations
-  /// @param node_name Fully qualified node name
-  /// @return true if node parameters are accessible
-  bool is_node_available(const std::string & node_name);
-
  private:
   /// Get or create a SyncParametersClient for the given node
   std::shared_ptr<rclcpp::SyncParametersClient> get_param_client(const std::string & node_name);

src/ros2_medkit_gateway/include/ros2_medkit_gateway/data_access_manager.hpp

@@ -59,15 +59,6 @@ class DataAccessManager {
    */
   json get_topic_sample_with_fallback(const std::string & topic_name, double timeout_sec = -1.0);
 
-  /**
-   * @brief Get component data with fallback to metadata for unavailable topics
-   *
-   * @param component_namespace Component's namespace
-   * @param timeout_sec Timeout per topic. Use -1.0 to use the topic_sample_timeout_sec parameter (default)
-   * @return JSON array with topic data/metadata
-   */
-  json get_component_data_with_fallback(const std::string & component_namespace, double timeout_sec = -1.0);
-
   /**
    * @brief Get the type introspection instance
    */
@@ -84,36 +75,6 @@ class DataAccessManager {
     return native_sampler_.get();
   }
 
-  /**
-   * @brief Get component data using native rclcpp APIs (fast, no CLI overhead)
-   *
-   * This method uses the NativeTopicSampler to:
-   * - Discover topics via node_->get_topic_names_and_types() instead of `ros2 topic list`
-   * - Check publisher counts before sampling to skip idle topics immediately
-   * - Return metadata for topics without publishers without waiting for timeout
-   *
-   * @param component_namespace Component's namespace (e.g., "/powertrain/engine")
-   * @param timeout_sec Timeout per topic for topics that have publishers
-   * @return JSON array with topic data/metadata
-   * @deprecated Use get_component_data_by_fqn instead for accurate topic discovery
-   */
-  json get_component_data_native(const std::string & component_namespace, double timeout_sec = 1.0);
-
-  /**
-   * @brief Get component data by fully qualified name using topic map
-   *
-   * This method finds all topics that the component publishes or subscribes to
-   * by building a component-topic map from the ROS graph. This is more accurate
-   * than namespace-based filtering because:
-   * - A node can publish/subscribe to topics outside its namespace
-   * - Topics like /clock, /tf, /diagnostics are in root namespace but used by many nodes
-   *
-   * @param component_fqn Component's fully qualified name (e.g., "/ros2_medkit_gateway")
-   * @param timeout_sec Timeout per topic for topics that have publishers
-   * @return JSON array with topic data/metadata for all topics this component interacts with
-   */
-  json get_component_data_by_fqn(const std::string & component_fqn, double timeout_sec = 1.0);
-
   /**
    * @brief Get single topic sample using native rclcpp APIs
    *
@@ -134,11 +95,6 @@ class DataAccessManager {
   }
 
  private:
-  /**
-   * @brief Find all topics under a given namespace using native API
-   */
-  std::vector<std::string> find_component_topics_native(const std::string & component_namespace);
-
   /**
    * @brief Convert TopicSampleResult to JSON with type info enrichment
    */

src/ros2_medkit_gateway/include/ros2_medkit_gateway/type_introspection.hpp

@@ -35,16 +35,6 @@ struct TopicTypeInfo {
   nlohmann::json default_value;  ///< Template with default values
 };
 
-/**
- * @brief Metadata about a topic (without actual data)
- */
-struct TopicMetadata {
-  std::string topic_path;   ///< Full topic path (e.g., "/powertrain/engine/temperature")
-  std::string type_name;    ///< Message type name
-  int publisher_count{0};   ///< Number of publishers
-  int subscriber_count{0};  ///< Number of subscribers
-};
-
 /**
  * @brief Provides type introspection capabilities for ROS 2 message types
  *
@@ -73,17 +63,6 @@ class TypeIntrospection {
   TypeIntrospection(TypeIntrospection &&) = delete;
   TypeIntrospection & operator=(TypeIntrospection &&) = delete;
 
-  /**
-   * @brief Get metadata for a topic (type, publisher/subscriber counts)
-   *
-   * This method is fast and doesn't require the topic to be publishing.
-   *
-   * @param topic_path Full path to the topic (e.g., "/powertrain/engine/temperature")
-   * @return TopicMetadata containing topic information
-   * @throws std::runtime_error if topic info cannot be retrieved
-   */
-  TopicMetadata get_topic_metadata(const std::string & topic_path);
-
   /**
    * @brief Get full type information including schema (with caching)
    *
@@ -115,11 +94,6 @@ class TypeIntrospection {
    */
   nlohmann::json get_type_schema(const std::string & type_name);
 
-  /**
-   * @brief Clear the type info cache
-   */
-  void clear_cache();
-
  private:
   std::string scripts_path_;                     ///< Path to helper scripts
   std::unique_ptr<ROS2CLIWrapper> cli_wrapper_;  ///< CLI wrapper for commands

src/ros2_medkit_gateway/src/configuration_manager.cpp

@@ -49,11 +49,6 @@ std::shared_ptr<rclcpp::SyncParametersClient> ConfigurationManager::get_param_cl
   return client;
 }
 
-bool ConfigurationManager::is_node_available(const std::string & node_name) {
-  auto client = get_param_client(node_name);
-  return client->wait_for_service(1s);
-}
-
 ParameterResult ConfigurationManager::list_parameters(const std::string & node_name) {
   ParameterResult result;
 
@@ -192,62 +187,6 @@ ParameterResult ConfigurationManager::set_parameter(const std::string & node_nam
   return result;
 }
 
-ParameterResult ConfigurationManager::describe_parameter(const std::string & node_name,
-                                                         const std::string & param_name) {
-  ParameterResult result;
-
-  try {
-    auto client = get_param_client(node_name);
-
-    if (!client->wait_for_service(2s)) {
-      result.success = false;
-      result.error_message = "Parameter service not available for node: " + node_name;
-      return result;
-    }
-
-    auto descriptors = client->describe_parameters({param_name});
-    if (descriptors.empty()) {
-      result.success = false;
-      result.error_message = "Parameter not found: " + param_name;
-      return result;
-    }
-
-    const auto & desc = descriptors[0];
-    json desc_obj;
-    desc_obj["name"] = desc.name;
-    desc_obj["type"] = parameter_type_to_string(static_cast<rclcpp::ParameterType>(desc.type));
-    desc_obj["description"] = desc.description;
-    desc_obj["read_only"] = desc.read_only;
-
-    // Add constraints if available
-    if (!desc.additional_constraints.empty()) {
-      desc_obj["additional_constraints"] = desc.additional_constraints;
-    }
-    if (!desc.floating_point_range.empty()) {
-      json range;
-      range["from_value"] = desc.floating_point_range[0].from_value;
-      range["to_value"] = desc.floating_point_range[0].to_value;
-      range["step"] = desc.floating_point_range[0].step;
-      desc_obj["floating_point_range"] = range;
-    }
-    if (!desc.integer_range.empty()) {
-      json range;
-      range["from_value"] = desc.integer_range[0].from_value;
-      range["to_value"] = desc.integer_range[0].to_value;
-      range["step"] = desc.integer_range[0].step;
-      desc_obj["integer_range"] = range;
-    }
-
-    result.success = true;
-    result.data = desc_obj;
-  } catch (const std::exception & e) {
-    result.success = false;
-    result.error_message = std::string("Failed to describe parameter: ") + e.what();
-  }
-
-  return result;
-}
-
 std::string ConfigurationManager::parameter_type_to_string(rclcpp::ParameterType type) {
   switch (type) {
     case rclcpp::ParameterType::PARAMETER_BOOL:

src/ros2_medkit_gateway/src/data_access_manager.cpp

@@ -14,11 +14,9 @@
 
 #include "ros2_medkit_gateway/data_access_manager.hpp"
 
-#include <algorithm>
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <chrono>
 #include <cmath>
-#include <future>
 #include <sstream>
 
 #include "ros2_medkit_gateway/exceptions.hpp"
@@ -105,25 +103,6 @@ json DataAccessManager::get_topic_sample_with_fallback(const std::string & topic
   return get_topic_sample_native(topic_name, effective_timeout);
 }
 
-json DataAccessManager::get_component_data_with_fallback(const std::string & component_namespace, double timeout_sec) {
-  // Use configured parameter if timeout_sec is negative (default)
-  double effective_timeout = (timeout_sec < 0) ? topic_sample_timeout_sec_ : timeout_sec;
-  // Always use native sampling - much faster for idle topics
-  return get_component_data_native(component_namespace, effective_timeout);
-}
-
-std::vector<std::string> DataAccessManager::find_component_topics_native(const std::string & component_namespace) {
-  auto topics = native_sampler_->discover_topics(component_namespace);
-  std::vector<std::string> topic_names;
-  topic_names.reserve(topics.size());
-  for (const auto & topic : topics) {
-    topic_names.push_back(topic.name);
-  }
-  RCLCPP_INFO(node_->get_logger(), "Found %zu topics under namespace '%s' (native)", topic_names.size(),
-              component_namespace.c_str());
-  return topic_names;
-}
-
 json DataAccessManager::sample_result_to_json(const TopicSampleResult & sample) {
   json result;
   result["topic"] = sample.topic_name;
@@ -183,70 +162,4 @@ json DataAccessManager::get_topic_sample_native(const std::string & topic_name,
   throw TopicNotAvailableException(topic_name);
 }
 
-json DataAccessManager::get_component_data_native(const std::string & component_namespace, double timeout_sec) {
-  json result = json::array();
-
-  // Use native discovery
-  auto topics = find_component_topics_native(component_namespace);
-
-  if (topics.empty()) {
-    RCLCPP_WARN(node_->get_logger(), "No topics found under namespace '%s'", component_namespace.c_str());
-    return result;
-  }
-
-  // Use native parallel sampling with publisher count optimization
-  auto samples = native_sampler_->sample_topics_parallel(topics, timeout_sec, max_parallel_samples_);
-
-  for (const auto & sample : samples) {
-    try {
-      result.push_back(sample_result_to_json(sample));
-    } catch (const std::exception & e) {
-      RCLCPP_WARN(node_->get_logger(), "Failed to convert sample for '%s': %s", sample.topic_name.c_str(), e.what());
-    }
-  }
-
-  return result;
-}
-
-json DataAccessManager::get_component_data_by_fqn(const std::string & component_fqn, double timeout_sec) {
-  json result = json::array();
-
-  // Get topics this component publishes/subscribes to using the topic map
-  auto component_topics = native_sampler_->get_component_topics(component_fqn);
-
-  // Combine publishes and subscribes into unique set of topics
-  std::set<std::string> all_topics;
-  for (const auto & topic : component_topics.publishes) {
-    all_topics.insert(topic);
-  }
-  for (const auto & topic : component_topics.subscribes) {
-    all_topics.insert(topic);
-  }
-
-  if (all_topics.empty()) {
-    RCLCPP_WARN(node_->get_logger(), "No topics found for component '%s'", component_fqn.c_str());
-    return result;
-  }
-
-  RCLCPP_INFO(node_->get_logger(), "Found %zu topics for component '%s' (publishes: %zu, subscribes: %zu)",
-              all_topics.size(), component_fqn.c_str(), component_topics.publishes.size(),
-              component_topics.subscribes.size());
-
-  // Convert set to vector for parallel sampling
-  std::vector<std::string> topics_vec(all_topics.begin(), all_topics.end());
-
-  // Use native parallel sampling with publisher count optimization
-  auto samples = native_sampler_->sample_topics_parallel(topics_vec, timeout_sec, max_parallel_samples_);
-
-  for (const auto & sample : samples) {
-    try {
-      result.push_back(sample_result_to_json(sample));
-    } catch (const std::exception & e) {
-      RCLCPP_WARN(node_->get_logger(), "Failed to convert sample for '%s': %s", sample.topic_name.c_str(), e.what());
-    }
-  }
-
-  return result;
-}
-
 }  // namespace ros2_medkit_gateway