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Update tests to changed behavior
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‎hardware_interface/test/test_resource_manager.cpp

Lines changed: 40 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -961,15 +961,15 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
961961
TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, false);
962962
}
963963

964-
// When actuator is configured all interfaces become available
964+
// When actuator is configured state interfaces become available
965965
configure_components(rm, {TEST_ACTUATOR_HARDWARE_NAME});
966966
{
967967
check_interfaces(
968968
{"joint1/position"},
969-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
969+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
970970
check_interfaces(
971971
{"joint1/max_velocity"},
972-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
972+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
973973
check_interfaces(
974974
TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
975975
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
@@ -987,9 +987,8 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
987987

988988
// Can claim Actuator's interfaces
989989
{
990-
check_interface_claiming({}, {"joint1/position"}, true);
991-
check_interface_claiming(
992-
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
990+
check_interface_claiming({}, {"joint1/position"}, false);
991+
check_interface_claiming(TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {}, true);
993992
check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
994993
check_interface_claiming(
995994
TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, false);
@@ -1045,19 +1044,18 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
10451044
std::bind(&TestableResourceManager::state_interface_exists, &rm, _1), true);
10461045
}
10471046

1048-
// When Sensor and System are configured their state-
1049-
// and command- interfaces are available
1047+
// When Sensor and System are configured their state-interfaces are available
10501048
configure_components(rm, {TEST_SENSOR_HARDWARE_NAME, TEST_SYSTEM_HARDWARE_NAME});
10511049
{
10521050
check_interfaces(
10531051
TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES,
10541052
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
10551053
check_interfaces(
10561054
{"joint2/velocity", "joint3/velocity"},
1057-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
1055+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
10581056
check_interfaces(
10591057
{"joint2/max_acceleration", "configuration/max_tcp_jerk"},
1060-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
1058+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
10611059

10621060
check_interfaces(
10631061
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES,
@@ -1073,15 +1071,15 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
10731071
// Can claim:
10741072
// - all Actuator's state interfaces and command interfaces
10751073
// - sensor's state interfaces
1076-
// - system's state and command interfaces
1074+
// - system's state interfaces
1075+
// Cannot claim:
1076+
// - system's command interfaces
10771077
{
10781078
check_interface_claiming(
10791079
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES, true);
10801080
check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, true);
1081-
check_interface_claiming({}, {"joint2/velocity", "joint3/velocity"}, true);
1082-
check_interface_claiming(
1083-
TEST_SYSTEM_HARDWARE_STATE_INTERFACES,
1084-
{"joint2/max_acceleration", "configuration/max_tcp_jerk"}, true);
1081+
check_interface_claiming(TEST_SYSTEM_HARDWARE_STATE_INTERFACES, {}, true);
1082+
check_interface_claiming({}, {"joint2/velocity", "joint3/velocity"}, false);
10851083
}
10861084

10871085
// All active - everything available
@@ -1122,10 +1120,10 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
11221120
{
11231121
check_interfaces(
11241122
{"joint1/position"},
1125-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
1123+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
11261124
check_interfaces(
11271125
{"joint1/max_velocity"},
1128-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
1126+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
11291127
check_interfaces(
11301128
TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
11311129
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
@@ -1142,27 +1140,32 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
11421140
}
11431141

11441142
// Can claim everything
1145-
// - actuator's state and command interfaces
1143+
// - actuator's state interfaces
11461144
// - sensor's state interfaces
11471145
// - system's state and command interfaces
1146+
// Cannot claim:
1147+
// - actuator's command interface
11481148
{
1149-
check_interface_claiming({}, {"joint1/position"}, true);
1150-
check_interface_claiming(
1151-
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
1149+
check_interface_claiming(TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {}, true);
11521150
check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, true);
11531151
check_interface_claiming(
11541152
TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, true);
1153+
check_interface_claiming({}, {"joint1/position"}, false);
1154+
//check_interface_claiming(
1155+
//TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
1156+
// TODO(fmauch): Claiming the state interfaces should work but the check function expects both
1157+
// to fail.
11551158
}
11561159

11571160
// When sensor is cleaned up the interfaces are not available anymore
11581161
cleanup_components(rm, {TEST_SENSOR_HARDWARE_NAME});
11591162
{
11601163
check_interfaces(
11611164
{"joint1/position"},
1162-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
1165+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
11631166
check_interfaces(
11641167
{"joint1/max_velocity"},
1165-
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
1168+
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
11661169
check_interfaces(
11671170
TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
11681171
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
@@ -1178,17 +1181,24 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
11781181
std::bind(&TestableResourceManager::state_interface_is_available, &rm, _1), true);
11791182
}
11801183

1181-
// Can claim everything
1182-
// - actuator's state and command interfaces
1183-
// - no sensor's interface
1184+
// Can claim:
1185+
// - actuator's state interfaces
11841186
// - system's state and command interfaces
1187+
// Cannot claim:
1188+
// - actuator's command interfaces
1189+
// - sensor's interface
11851190
{
1186-
check_interface_claiming({}, {"joint1/position"}, true);
1187-
check_interface_claiming(
1188-
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
1189-
check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
1191+
check_interface_claiming(TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {}, true);
11901192
check_interface_claiming(
11911193
TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, true);
1194+
1195+
check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
1196+
check_interface_claiming({}, {"joint1/position"}, false);
1197+
1198+
//check_interface_claiming(
1199+
//TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
1200+
// TODO(fmauch): Claiming the state interfaces should work but the check function expects both
1201+
// to fail.
11921202
}
11931203

11941204
// Check if all interfaces still exits

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