[24338] Improve windows tests (backport #6373)

test/feature/idl_parser/CMakeLists.txt

@@ -63,8 +63,11 @@ target_link_libraries(IdlParserTests
 gtest_discover_tests(IdlParserTests PROPERTIES ${IDLPARSERTESTS_ENV_PROPERTIES})
 
 message(STATUS "Copying IDL directory from ${PROJECT_SOURCE_DIR}/thirdparty/dds-types-test/IDL for idl_parser testing")
-add_custom_command(
-    TARGET IdlParserTests POST_BUILD
-    COMMAND ${CMAKE_COMMAND} -E copy_directory ${PROJECT_SOURCE_DIR}/thirdparty/dds-types-test/IDL ${CMAKE_CURRENT_BINARY_DIR}/IDL
-    COMMAND ${CMAKE_COMMAND} -E copy ${PROJECT_SOURCE_DIR}/test/feature/idl_parser/no_path_included.idl ${CMAKE_CURRENT_BINARY_DIR}/IDL/
+file(COPY
+    ${PROJECT_SOURCE_DIR}/thirdparty/dds-types-test/IDL/
+    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/IDL
+)
+file(COPY
+    ${PROJECT_SOURCE_DIR}/test/feature/idl_parser/no_path_included.idl
+    DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/IDL
 )

test/system/tools/fds/CMakeLists.txt

@@ -97,7 +97,7 @@ if(Python3_Interpreter_FOUND)
         if(WIN32)
            add_test(
                     NAME system.tools.fastdds.${TEST}
-                    COMMAND powershell "-File" ${PWS_LAUNCHER}
+                    COMMAND powershell.exe -NoProfile -ExecutionPolicy Bypass -File ${PWS_LAUNCHER}
                             ${Python3_EXECUTABLE}
                             ${CMAKE_CURRENT_SOURCE_DIR}/tests.py
                             $<TARGET_FILE:fast-discovery-server>

test/system/tools/fds/launcher.ps1

@@ -24,13 +24,18 @@ Param(
     $test_name
 )
 
-$test = Start-Process -Passthru -Wait `
-    -FilePath $python_path `
-    -ArgumentList ($test_script, $tool_path, $test_name) `
-    -WindowStyle Hidden
+try
+{
+    & $python_path $test_script $tool_path $test_name
+    $exit_code = $LASTEXITCODE
+}
+catch
+{
+    throw "Failed to launch test '$test_name': $($_.Exception.Message)"
+}
 
-if( $test.ExitCode -ne 0 )
+if ($exit_code -ne 0)
 {
-    $error_message = "Test: $test_name failed with exit code $($test.ExitCode)."
+    $error_message = "Test: $test_name failed with exit code $exit_code."
     throw $error_message
 }

test/system/tools/fds/tests.py

@@ -53,6 +53,9 @@
 import os
 from enum import Enum
 
+if os.name == 'nt':
+    import ctypes
+
 from xml.dom import minidom
 
 class Command_test(Enum):
@@ -86,17 +89,27 @@ def signal_handler(signum, frame):
 def send_command(command):
     print("Executing command: " + str(command))
 
-    # this subprocess cannot be executed in shell=True or using bash
+    creationflags = 0
+    if os.name == 'nt':
+        # Give the child its own console so we can deliver CTRL_C_EVENT to
+        # it without also affecting the launcher (PowerShell). We cannot use
+        # Start-Process -WindowStyle Hidden on Windows containers, and
+        # CREATE_NEW_PROCESS_GROUP + CTRL_BREAK_EVENT does not work either
+        # because the server only installs a SIGINT handler, not SIGBREAK.
+        creationflags = subprocess.CREATE_NEW_CONSOLE
+
+    # This subprocess cannot be executed in shell=True or using bash
     #  because a background script will not broadcast the signals
     #  it receives
     proc = subprocess.Popen(command,
                             stdout=subprocess.PIPE,
                             stderr=subprocess.PIPE,
-                            universal_newlines=True
+                            universal_newlines=True,
+                            creationflags=creationflags,
                             )
 
-    # sleep to let the server run
-    time.sleep(1)
+    # Sleep to let the server run
+    time.sleep(3)
 
     # 1. An exit code of 0 means everything was alright
     # 2. An exit code of 1 means the tool's process terminated before even
@@ -106,17 +119,44 @@ def send_command(command):
     #    output was different than expected
     exit_code = 0
 
-    # direct this script to ignore SIGINT
+    # If the process already exited due to failure (e.g. bad arguments, missing XML),
+    # skip signalling entirely and collect the output.
+    if proc.poll() is not None:
+        output, err = proc.communicate()
+        return output, err, exit_code
+
+    # Direct this script to ignore SIGINT
     signal.signal(signal.SIGINT, signal_handler)
 
-    # send SIGINT to process and wait for processing
+    # On Windows, detach from the launcher's console and attach to the child's brand-new
+    # console. From that attached state, GenerateConsoleCtrlEvent(CTRL_C_EVENT, 0)
+    # broadcasts CTRL+C to every process in the attached console. This reaches the server's
+    # SIGINT handler and triggers the clean-shutdown path (which prints "### Server shut down ###")
+    # without leaking the signal to PowerShell.
+    kernel32 = None
+    if os.name == 'nt':
+        kernel32 = ctypes.windll.kernel32
+        ATTACH_PARENT_PROCESS = -1
+        CTRL_C_EVENT = 0
+        kernel32.FreeConsole()
+        if not kernel32.AttachConsole(proc.pid):
+            # Restore our console and bail out hard if the attached failed
+            kernel32.AttachConsole(ATTACH_PARENT_PROCESS)
+            proc.kill()
+            print('Could not attach to child console to send CTRL_C')
+            sys.exit(2)
+        # Ignore CTRL+C in our own process so the broadcast does not terminate the Python launcher.
+        kernel32.SetConsoleCtrlHandler(None, True)
+
+    # Send signal to process and wait for processing
     lease = 0
     while True:
 
         if os.name == 'posix':
             proc.send_signal(signal.SIGINT)
         elif os.name == 'nt':
-            proc.send_signal(signal.CTRL_C_EVENT)
+            # pid == 0 targets all processes attached to our (the child's) console.
+            kernel32.GenerateConsoleCtrlEvent(0, 0)
 
         time.sleep(1)
         lease += 1
@@ -127,6 +167,12 @@ def send_command(command):
         else:
             break
 
+    # Restore the launcher's console attachment on Windows before returning.
+    if os.name == 'nt':
+        kernel32.FreeConsole()
+        kernel32.AttachConsole(-1)  # ATTACH_PARENT_PROCESS
+        kernel32.SetConsoleCtrlHandler(None, False)
+
     # Check whether SIGINT was able to terminate the process
     if proc.poll() is None:
         # SIGINT couldn't terminate the process. Kill it and exit with code 2

test/unittest/rtps/history/WriterHistoryTests.cpp

@@ -78,6 +78,10 @@ void cache_change_fragment(
     {
         ASSERT_EQ(result, 0);
     }
+
+    RTPSDomain::removeRTPSWriter(writer);
+    RTPSDomain::removeRTPSParticipant(participant);
+    delete history;
 }
 
 /**