AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144)

* Adding testing boilerplate

* Adding tests to run after message generation

* Tweaks to ensure run works in Bokken image

* Enabling audio by default, but disabling it in yamato config

.gitignore

 .DS_Store
+.swp
 .idea
 .vscode/
 tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json

tutorials/pick_and_place/PickAndPlaceProject/.gitignore

 /[Bb]uilds/
 /[Ll]ogs/
 /[Uu]ser[Ss]ettings/
+/[Aa]ssets/[Rr]os[Mm]essages/
+/[Aa]ssets/[Rr]os[Mm]essages.meta
 
 # MemoryCaptures can get excessive in size.
 # They also could contain extremely sensitive data

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs

 #if UNITY_EDITOR
 using Microsoft.CSharp;
-using RosSharp;
-using RosSharp.Control;
-using RosSharp.Urdf.Editor;
 using System;
 using System.CodeDom.Compiler;
 using System.Collections.Generic;
+using RosSharp;
+using RosSharp.Control;
+using RosSharp.Urdf.Editor;
 using UnityEditor;
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/DemoScripts.asmdef

+{
+    "name": "DemoScripts",
+    "rootNamespace": "",
+    "references": [
+        "GUID:625bfc588fb96c74696858f2c467e978",
+        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8",
+        "GUID:465c1207fffb96245a352265e7622205"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/DemoScripts.asmdef.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests.meta

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+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 

.yamato/yamato-config.yml

+name: Robotics Hub Tests
+agent:
+    type: Unity::VM
+    image: robotics/ci-ubuntu20:latest
+    flavor: i1.large
+variables:
+    PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
+commands:
+    - git submodule update --init --recursive
+      # TODO: Fix this hack - our bokken image is missing a .NET dependency (System.CodeDom) without which causes compilation to fail
+    - rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
+      # This is another hack to ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
+    - "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
+    - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
+    - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
+    - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
+    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories MessageGeneration
+    - mkdir -p ./tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts && cp ./tutorials/pick_and_place/Scripts/*.cs ./tutorials/pick_and_place/PickAndPlaceProject/Assets
+    - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories BuildTests
+triggers:
+    cancel_old_ci: true
+    expression: |
+        (pull_request.target eq "main"  AND
+        NOT pull_request.push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"]) OR
+        (push.branch eq "dev" AND
+        NOT push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
+artifacts:
+    logs:
+        paths:
+            - "test-results/**/*"

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/EditMode.asmdef

+{
+    "name": "EditMode",
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "Unity.Robotics.ROSTCPConnector.Editor",
+        "Unity.Robotics.ROSTCPConnector"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll"
+    ],
+    "autoReferenced": false,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/EditMode.asmdef.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PickAndPlaceMessageGenerationtests.cs

+using System.Collections.Generic;
+using System.IO;
+using NUnit.Framework;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using Unity.Robotics.ROSTCPConnector.Editor.MessageGeneration;
+using UnityEditor;
+
+[TestFixture]
+[Category("MessageGeneration")]
+public class PickAndPlaceMessageGenerationTests
+{
+    // Relative path to the directory containing the catkin packages
+    static readonly string k_ROSDirectory = Path.GetFullPath(Path.Combine("..", "ROS", "src"));
+    static string m_MessageGenOutputPath => MessageGenBrowserSettings.Get().outputPath;
+
+    // Define more individual messages to run generation on within this test case enumerable
+    static IEnumerable<TestCaseData> IndividualMessages()
+    {
+        yield return new TestCaseData(Path.Combine(k_ROSDirectory, "moveit_msgs", "msg", "RobotTrajectory.msg"));
+    }
+    
+    // Define directories of message files to be generated here
+    static IEnumerable<TestCaseData> MessageDirectories()
+    {
+        yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "msg"));
+    }
+
+    // Define directories of service files to be generated here
+    static IEnumerable<TestCaseData> ServiceDirectories()
+    {
+        yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "srv"));
+    }
+
+    [Test]
+    [TestCaseSource(nameof(IndividualMessages))]
+    public void TestMessageBuildSingle_ThrowsNoExceptions(string messageToBuild)
+    {
+        MessageAutoGen.GenerateSingleMessage(messageToBuild, m_MessageGenOutputPath);
+        AssetDatabase.Refresh();
+    }
+
+    [Test]
+    [TestCaseSource(nameof(MessageDirectories))]
+    public void TestMessageBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
+    {
+        MessageAutoGen.GenerateDirectoryMessages(directoryToBuild, m_MessageGenOutputPath);
+        AssetDatabase.Refresh();
+    }
+    
+    [Test]
+    [TestCaseSource(nameof(ServiceDirectories))]
+    public void TestServiceBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
+    {
+        ServiceAutoGen.GenerateDirectoryServices(directoryToBuild, m_MessageGenOutputPath);
+        AssetDatabase.Refresh();
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PickAndPlaceMessageGenerationtests.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PlayerBuildTests.cs

+using System;
+using System.Collections.Generic;
+using NUnit.Framework;
+using UnityEditor;
+using UnityEditor.Build.Reporting;
+using UnityEditor.TestTools;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+namespace BuildTests
+{
+    [TestFixture]
+    [Category("BuildTests")]
+    public class PlayerBuilder
+    {
+        List<EditorBuildSettingsScene> m_EditorBuildSettingsScenes = new List<EditorBuildSettingsScene>();
+        BuildSummary m_Summary;
+        string m_BuildPath = "Build";
+
+        [UnityPlatform(RuntimePlatform.WindowsEditor)]
+        [RequirePlatformSupport(BuildTarget.StandaloneWindows64)]
+        [Test]
+        public void BuildPlayerStandaloneWindows64()
+        {
+            BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneWindows64, m_BuildPath, BuildOptions.None, out _, out m_Summary);
+            Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, " BuildTarget.StandaloneWindows64 failed to build");
+        }
+
+        [RequirePlatformSupport(BuildTarget.StandaloneLinux64)]
+        [Test]
+        public void BuildPlayerLinux()
+        {
+            BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneLinux64, m_BuildPath, BuildOptions.None, out _, out m_Summary);
+            Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, "BuildTarget.StandaloneLinux64 failed to build");
+        }
+
+        [UnityPlatform(RuntimePlatform.OSXEditor)]
+        [RequirePlatformSupport(BuildTarget.StandaloneOSX)]
+        [Test]
+        public void BuildPlayerOSX()
+        {
+            BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneOSX, m_BuildPath, BuildOptions.None, out _, out m_Summary);
+            Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, "BuildTarget.StandaloneLinux64 failed to build");
+        }
+
+        void BuildPlayer(BuildTargetGroup buildTargetGroup, BuildTarget buildTarget, string buildOutputPath, BuildOptions buildOptions,
+            out BuildReport buildReport, out BuildSummary buildSummary)
+        {
+            BuildPlayerOptions buildPlayerOptions = new BuildPlayerOptions();
+            buildPlayerOptions.locationPathName = buildOutputPath;
+            buildPlayerOptions.target = buildTarget;
+            buildPlayerOptions.options = buildOptions;
+            buildPlayerOptions.targetGroup = buildTargetGroup;
+
+            buildReport = BuildPipeline.BuildPlayer(buildPlayerOptions);
+            buildSummary = buildReport.summary;
+        }
+    }
+}

tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/PlayerBuildTests.cs.meta

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/ExamplePlayModeTests.cs

+using System.Collections;
+using System.Collections.Generic;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+public class ExamplePlayModeTests
+{
+    // A Test behaves as an ordinary method
+    [Test]
+    public void ExamplePlayModeTestsSimplePasses()
+    {
+        // Use the Assert class to test conditions
+    }
+
+    // A UnityTest behaves like a coroutine in Play Mode. In Edit Mode you can use
+    // `yield return null;` to skip a frame.
+    [UnityTest]
+    public IEnumerator ExamplePlayModeTestsWithEnumeratorPasses()
+    {
+        // Use the Assert class to test conditions.
+        // Use yield to skip a frame.
+        yield return null;
+    }
+}

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tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/PlayMode/PlayMode.asmdef

+{
+    "name": "PlayMode",
+    "optionalUnityReferences": [
+        "TestAssemblies"
+    ]
+}

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