Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[CM] Use explicit constants in controller tests. (backport #1356) #1359

Merged
merged 1 commit into from
Feb 1, 2024
Merged

[CM] Use explicit constants in controller tests. (backport #1356) #1359

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
64 changes: 32 additions & 32 deletions controller_manager/test/test_load_controller.cpp
View file
Original file line number Diff line number Diff line change
@@ -28,8 +28,8 @@
using test_controller::TEST_CONTROLLER_CLASS_NAME;
using ::testing::_;
using ::testing::Return;
const auto controller_name1 = "test_controller1";
const auto controller_name2 = "test_controller2";
const auto CONTROLLER_NAME_1 = "test_controller1";
const auto CONTROLLER_NAME_2 = "test_controller2";
using strvec = std::vector<std::string>;

class TestLoadController : public ControllerManagerFixture<controller_manager::ControllerManager>
@@ -53,7 +53,7 @@ TEST_F(TestLoadController, load_controller_failed_init)
TEST_F(TestLoadController, configuring_non_loaded_controller_fails)
{
// try configure non-loaded controller
EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR);
}

TEST_F(TestLoadController, can_set_and_get_non_default_update_rate)
@@ -82,7 +82,7 @@ class TestLoadedController : public TestLoadController
{
TestLoadController::SetUp();

controller_if = cm_->load_controller(controller_name1, TEST_CONTROLLER_CLASS_NAME);
controller_if = cm_->load_controller(CONTROLLER_NAME_1, TEST_CONTROLLER_CLASS_NAME);
ASSERT_NE(controller_if, nullptr);
}

@@ -93,7 +93,7 @@ class TestLoadedController : public TestLoadController
controller_interface::return_type::OK)
{
switch_test_controllers(
strvec{controller_name1}, strvec{}, strictness, expected_future_status,
strvec{CONTROLLER_NAME_1}, strvec{}, strictness, expected_future_status,
expected_interface_status);
}

@@ -104,7 +104,7 @@ class TestLoadedController : public TestLoadController
controller_interface::return_type::OK)
{
switch_test_controllers(
strvec{}, strvec{controller_name1}, strictness, expected_future_status,
strvec{}, strvec{CONTROLLER_NAME_1}, strictness, expected_future_status,
expected_interface_status);
}
};
@@ -121,15 +121,15 @@ TEST_P(TestLoadedControllerParametrized, load_and_configure_one_known_controller
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id());

cm_->configure_controller(controller_name1);
cm_->configure_controller(CONTROLLER_NAME_1);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id());
}

TEST_P(TestLoadedControllerParametrized, can_start_configured_controller)
{
const auto test_param = GetParam();

EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK);
start_test_controller(test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id());
}
@@ -138,7 +138,7 @@ TEST_P(TestLoadedControllerParametrized, can_stop_active_controller)
{
const auto test_param = GetParam();

EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK);

start_test_controller(test_param.strictness);

@@ -164,7 +164,7 @@ TEST_P(TestLoadedControllerParametrized, starting_and_stopping_a_controller)
// Activate configured controller
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(controller_name1);
cm_->configure_controller(CONTROLLER_NAME_1);
}
start_test_controller(test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id());
@@ -180,11 +180,11 @@ TEST_P(TestLoadedControllerParametrized, can_not_configure_active_controller)
{
const auto test_param = GetParam();

EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK);
start_test_controller(test_param.strictness);

// Can not configure active controller
EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id());
}

@@ -205,15 +205,15 @@ TEST_P(TestLoadedControllerParametrized, can_not_start_finalized_controller)
test_param.strictness, std::future_status::ready, test_param.expected_return);

// Can not configure finalize controller
EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, controller_if->get_state().id());
}

TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_cleaned_up)
{
const auto test_param = GetParam();

EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK);

start_test_controller(test_param.strictness);

@@ -227,7 +227,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_cleaned_u
test_controller->cleanup_calls = &cleanup_calls;
// Configure from inactive state: controller can no be cleaned-up
test_controller->simulate_cleanup_failure = true;
EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id());
EXPECT_EQ(0u, cleanup_calls);
}
@@ -236,7 +236,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_configure
{
const auto test_param = GetParam();

EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK);

start_test_controller(test_param.strictness);

@@ -251,7 +251,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_configure
test_controller->simulate_cleanup_failure = false;
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK);
EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK);
}
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id());
EXPECT_EQ(1u, cleanup_calls);
@@ -270,8 +270,8 @@ class SwitchTest
const auto UNSPECIFIED = 0;
const auto EMPTY_STR_VEC = strvec{};
const auto NONEXISTENT_CONTROLLER = strvec{"nonexistent_controller"};
const auto VALID_CONTROLLER = strvec{controller_name1};
const auto VALID_PLUS_NONEXISTENT_CONTROLLERS = strvec{controller_name1, "nonexistent_controller"};
const auto VALID_CONTROLLER = strvec{CONTROLLER_NAME_1};
const auto VALID_PLUS_NONEXISTENT_CONTROLLERS = strvec{CONTROLLER_NAME_1, "nonexistent_controller"};

TEST_P(SwitchTest, EmptyListOrNonExistentTest)
{
@@ -375,10 +375,10 @@ class TestTwoLoadedControllers : public TestLoadController,
void SetUp() override
{
TestLoadController::SetUp();
controller_if1 = cm_->load_controller(controller_name1, TEST_CONTROLLER_CLASS_NAME);
controller_if1 = cm_->load_controller(CONTROLLER_NAME_1, TEST_CONTROLLER_CLASS_NAME);
ASSERT_NE(controller_if1, nullptr);
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
controller_if2 = cm_->load_controller(controller_name2, TEST_CONTROLLER_CLASS_NAME);
controller_if2 = cm_->load_controller(CONTROLLER_NAME_2, TEST_CONTROLLER_CLASS_NAME);
ASSERT_NE(controller_if2, nullptr);
EXPECT_EQ(2u, cm_->get_loaded_controllers().size());
ASSERT_EQ(
@@ -390,22 +390,22 @@ class TestTwoLoadedControllers : public TestLoadController,

TEST_F(TestTwoLoadedControllers, load_and_configure_two_known_controllers)
{
cm_->configure_controller(controller_name1);
cm_->configure_controller(CONTROLLER_NAME_1);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if1->get_state().id());

cm_->configure_controller(controller_name2);
cm_->configure_controller(CONTROLLER_NAME_2);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id());
}

TEST_P(TestTwoLoadedControllers, switch_multiple_controllers)
{
const auto test_param = GetParam();

cm_->configure_controller(controller_name1);
cm_->configure_controller(CONTROLLER_NAME_1);

// Start controller #1
RCLCPP_INFO(cm_->get_logger(), "Starting stopped controller #1");
switch_test_controllers(strvec{controller_name1}, strvec{}, test_param.strictness);
switch_test_controllers(strvec{CONTROLLER_NAME_1}, strvec{}, test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if1->get_state().id());
ASSERT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if2->get_state().id());
@@ -418,42 +418,42 @@ TEST_P(TestTwoLoadedControllers, switch_multiple_controllers)
// TODO(destogl): fix this test for BEST_EFFORT - probably related to:
// https://github.com/ros-controls/ros2_control/pull/582#issuecomment-1029931561
// switch_test_controllers(
// strvec{controller_name2}, strvec{controller_name1}, test_param.strictness,
// strvec{CONTROLLER_NAME_2}, strvec{CONTROLLER_NAME_1}, test_param.strictness,
// std::future_status::ready, controller_interface::return_type::ERROR);
switch_test_controllers(
strvec{controller_name2}, strvec{controller_name1}, STRICT, std::future_status::ready,
strvec{CONTROLLER_NAME_2}, strvec{CONTROLLER_NAME_1}, STRICT, std::future_status::ready,
controller_interface::return_type::ERROR);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if1->get_state().id());
ASSERT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if2->get_state().id());

{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(controller_name2);
cm_->configure_controller(CONTROLLER_NAME_2);
}

// Stop controller 1
RCLCPP_INFO(cm_->get_logger(), "Stopping controller #1");
switch_test_controllers(strvec{}, strvec{controller_name1}, test_param.strictness);
switch_test_controllers(strvec{}, strvec{CONTROLLER_NAME_1}, test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if1->get_state().id());
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id());

// Start controller 1 again
RCLCPP_INFO(cm_->get_logger(), "Starting stopped controller #1");
switch_test_controllers(strvec{controller_name1}, strvec{}, test_param.strictness);
switch_test_controllers(strvec{CONTROLLER_NAME_1}, strvec{}, test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if1->get_state().id());
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id());

// Stop controller 1, start controller 2
RCLCPP_INFO(cm_->get_logger(), "Stopping controller #1, starting controller #2");
switch_test_controllers(
strvec{controller_name2}, strvec{controller_name1}, test_param.strictness);
strvec{CONTROLLER_NAME_2}, strvec{CONTROLLER_NAME_1}, test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if1->get_state().id());
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if2->get_state().id());

// Stop controller 2
RCLCPP_INFO(cm_->get_logger(), "Stopping controller #2");
switch_test_controllers(strvec{}, strvec{controller_name2}, test_param.strictness);
switch_test_controllers(strvec{}, strvec{CONTROLLER_NAME_2}, test_param.strictness);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id());
}

Loading
Oops, something went wrong.