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Add test coverage for params_file parameter in spawner/unspawner te…
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…sts (backport #1754) (#1839)

* Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754)

* pre-commit changes

---------

Co-authored-by: Santosh Govindaraj <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
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@mergify @SantoshGovindaraj @saikishor
3 people authored Nov 3, 2024
1 parent 15c9a14 commit 3a48508
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Showing 2 changed files with 84 additions and 1 deletion.
2 changes: 1 addition & 1 deletion controller_manager/controller_manager/controller_manager_services.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -312,7 +312,7 @@ def set_controller_parameters_from_param_file(
if parameter_file:
spawner_namespace = namespace if namespace else node.get_namespace()
set_controller_parameters(
node, controller_manager_name, controller_name, "param_file", parameter_file
node, controller_manager_name, controller_name, "params_file", parameter_file
)

controller_type = get_parameter_from_param_file(
Expand Down
83 changes: 83 additions & 0 deletions controller_manager/test/test_spawner_unspawner.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -267,6 +267,69 @@ TEST_F(TestLoadController, spawner_test_type_in_arg)
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
}

TEST_F(TestLoadController, spawner_test_type_in_params_file)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_type.yaml";

ControllerManagerRunner cm_runner(this);
// Provide controller type via the parsed file
EXPECT_EQ(
call_spawner(
"ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c "
"test_controller_manager -p " +
test_file_path),
0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);

auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.info.type,
test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
"ctrl_with_parameters_and_no_type -c test_controller_manager --controller-manager-timeout "
"1.0 -p " +
test_file_path),
256);
// Will still be same as the current call will fail
ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);

auto ctrl_1 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

TEST_F(TestLoadController, unload_on_kill)
{
// Launch spawner with unload on kill
Expand Down Expand Up @@ -583,6 +646,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -593,6 +658,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -607,11 +675,16 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

TEST_F(
Expand Down Expand Up @@ -659,6 +732,8 @@ TEST_F(
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -669,6 +744,9 @@ TEST_F(
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -683,9 +761,14 @@ TEST_F(
ASSERT_EQ(ctrl_1.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

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