From 2c9c690ca56bbf14f8c8004c2217ccaee7f3feba 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) --- .../controller_manager_services.py | 2 +- .../test/test_spawner_unspawner.cpp | 91 ++++++++++++++++++- 2 files changed, 89 insertions(+), 4 deletions(-) diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py index 06abece354..4fb5e3f0ae 100644 --- a/controller_manager/controller_manager/controller_manager_services.py +++ b/controller_manager/controller_manager/controller_manager_services.py @@ -311,7 +311,7 @@ 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( diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp index 2cc742cdfd..892c9d0eaa 100644 --- a/controller_manager/test/test_spawner_unspawner.cpp +++ b/controller_manager/test/test_spawner_unspawner.cpp @@ -33,6 +33,7 @@ const char coveragepy_script[] = "python3 -m coverage run --append --branch"; using namespace std::chrono_literals; class TestLoadController : public ControllerManagerFixture { +public: void SetUp() override { ControllerManagerFixture::SetUp(); @@ -41,9 +42,9 @@ class TestLoadController : public ControllerManagerFixtureread(TIME, PERIOD); - cm_->update(TIME, PERIOD); - cm_->write(TIME, PERIOD); + cm_->read(time_, PERIOD); + cm_->update(time_, PERIOD); + cm_->write(time_, PERIOD); }); update_executor_ = @@ -236,11 +237,75 @@ 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 // timeout command will kill it after the specified time with signal SIGINT ControllerManagerRunner cm_runner(this); + cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); std::stringstream ss; ss << "timeout --signal=INT 5 " << std::string(coveragepy_script) + @@ -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( @@ -576,11 +646,16 @@ 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( @@ -628,6 +703,8 @@ 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 +715,9 @@ 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( @@ -652,9 +732,14 @@ 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); }