From d7daaefc0223b20c06f1a32013bbd9dc07557e12 Mon Sep 17 00:00:00 2001
From: Santosh Govindaraj <75157452+SantoshGovindaraj@users.noreply.github.com>
Date: Tue, 17 Sep 2024 13:10:49 +0100
Subject: [PATCH] Add test coverage for `params_file` parameter in
 spawner/unspawner tests (#1754)

---
 .../test/test_spawner_unspawner.cpp           | 95 ++++++++++++++++++-
 1 file changed, 91 insertions(+), 4 deletions(-)

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
index 2cc742cdfd3..b2109be02a6 100644
--- a/controller_manager/test/test_spawner_unspawner.cpp
+++ b/controller_manager/test/test_spawner_unspawner.cpp
@@ -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
@@ -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(
@@ -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(
@@ -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(
@@ -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(
@@ -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(
@@ -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 ====
 }