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Add test coverage for params_file parameter in spawner/unspawner te…
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…sts (#1754)
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@SantoshGovindaraj @saikishor
SantoshGovindaraj authored and saikishor committed Nov 3, 2024
1 parent d62377e commit d7daaef
Showing 1 changed file with 91 additions and 4 deletions.
95 changes: 91 additions & 4 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -236,6 +236,71 @@ 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 @@ -552,6 +617,8 @@ 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 @@ -562,6 +629,9 @@ 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 @@ -575,12 +645,18 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
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);
==== BASE ====
ASSERT_EQ(
ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
==== BASE ====

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);
==== BASE ====
ASSERT_EQ(
ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
==== BASE ====
}

TEST_F(
Expand Down Expand Up @@ -628,6 +704,8 @@ 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 @@ -638,6 +716,9 @@ 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 @@ -651,10 +732,16 @@ TEST_F(
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);
==== BASE ====
ASSERT_EQ(
ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
==== BASE ====

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);
==== BASE ====
ASSERT_EQ(
ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
==== BASE ====
}

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