Move test_components to own package (ros-controls#1325)

StoglRobotics-forks · Jan 25, 2024 · 0bdcd41 · 0bdcd41
1 parent 989aaae
commit 0bdcd41
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Showing 14 changed files with 79 additions and 23 deletions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -30,6 +30,7 @@ jobs:
  controller_interface
  controller_manager
  hardware_interface
+ hardware_interface_testing
  transmission_interface
 
  vcs-repo-file-url: |

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -24,6 +24,7 @@ jobs:
  controller_manager
  controller_manager_msgs
  hardware_interface
+ hardware_interface_testing
  ros2controlcli
  ros2_control
  ros2_control_test_assets
@@ -49,6 +50,7 @@ jobs:
  controller_manager
  controller_manager_msgs
  hardware_interface
+ hardware_interface_testing
  ros2controlcli
  ros2_control
  ros2_control_test_assets

diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -29,6 +29,7 @@
  <depend>std_msgs</depend>
 
  <test_depend>ament_cmake_gmock</test_depend>
+ <test_depend>hardware_interface_testing</test_depend>
  <test_depend>ros2_control_test_assets</test_depend>
 
  <export>

diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
@@ -79,21 +79,6 @@ if(BUILD_TESTING)
  target_link_libraries(test_component_parser hardware_interface)
  ament_target_dependencies(test_component_parser ros2_control_test_assets)
 
- add_library(test_components SHARED
- test/test_components/test_actuator.cpp
- test/test_components/test_sensor.cpp
- test/test_components/test_system.cpp)
- target_link_libraries(test_components hardware_interface)
- ament_target_dependencies(test_components
- pluginlib
- ros2_control_test_assets
- )
- install(TARGETS test_components
- DESTINATION lib
- )
- pluginlib_export_plugin_description_file(
- hardware_interface test/test_components/test_components.xml)
-
  add_library(test_hardware_components SHARED
  test/test_hardware_components/test_single_joint_actuator.cpp
  test/test_hardware_components/test_force_torque_sensor.cpp
@@ -110,14 +95,6 @@ if(BUILD_TESTING)
  hardware_interface test/test_hardware_components/test_hardware_components.xml
  )
 
- ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
- target_link_libraries(test_resource_manager hardware_interface)
- ament_target_dependencies(test_resource_manager ros2_control_test_assets)
-
- ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
- target_link_libraries(test_resource_manager_prepare_perform_switch hardware_interface)
- ament_target_dependencies(test_resource_manager_prepare_perform_switch ros2_control_test_assets)
-
  ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp)
  target_include_directories(test_generic_system PRIVATE include)
  target_link_libraries(test_generic_system hardware_interface)

diff --git a/hardware_interface_testing/CMakeLists.txt b/hardware_interface_testing/CMakeLists.txt
@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.16)
+project(hardware_interface_testing LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+ add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+ control_msgs
+ hardware_interface
+ lifecycle_msgs
+ pluginlib
+ rclcpp_lifecycle
+ ros2_control_test_assets
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(test_components SHARED
+test/test_components/test_actuator.cpp
+test/test_components/test_sensor.cpp
+test/test_components/test_system.cpp)
+ament_target_dependencies(test_components hardware_interface pluginlib ros2_control_test_assets)
+install(TARGETS test_components
+DESTINATION lib
+)
+pluginlib_export_plugin_description_file(
+hardware_interface test/test_components/test_components.xml)
+
+if(BUILD_TESTING)
+
+ find_package(ament_cmake_gmock REQUIRED)
+
+ ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
+ ament_target_dependencies(test_resource_manager hardware_interface ros2_control_test_assets)
+
+ ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
+ ament_target_dependencies(test_resource_manager_prepare_perform_switch hardware_interface ros2_control_test_assets)
+
+endif()
+
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()
diff --git a/hardware_interface_testing/README.md b/hardware_interface_testing/README.md
@@ -0,0 +1,4 @@
+# hardware_interface_testing
+
+This package contains a set of hardware interfaces and controllers that can be used for other
+packages to test their functionality.
diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>hardware_interface_testing</name>
+ <version>0.0.0</version>
+ <description>ros2_control hardware interface testing</description>
+ <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+ <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
+ <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
+ <license>Apache License 2.0</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>control_msgs</depend>
+ <depend>hardware_interface</depend>
+ <depend>lifecycle_msgs</depend>
+ <depend>pluginlib</depend>
+ <depend>rclcpp_lifecycle</depend>
+ <depend>ros2_control_test_assets</depend>
+
+ <test_depend>ament_cmake_gmock</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
diff --git a/...ce/test/test_components/test_actuator.cpp → ...ng/test/test_components/test_actuator.cpp b/...ce/test/test_components/test_actuator.cpp → ...ng/test/test_components/test_actuator.cpp
diff --git a/.../test/test_components/test_components.xml → .../test/test_components/test_components.xml b/.../test/test_components/test_components.xml → .../test/test_components/test_components.xml
diff --git a/...face/test/test_components/test_sensor.cpp → ...ting/test/test_components/test_sensor.cpp b/...face/test/test_components/test_sensor.cpp → ...ting/test/test_components/test_sensor.cpp
diff --git a/...face/test/test_components/test_system.cpp → ...ting/test/test_components/test_system.cpp b/...face/test/test_components/test_system.cpp → ...ting/test/test_components/test_system.cpp
diff --git a/..._interface/test/test_resource_manager.cpp → ...ce_testing/test/test_resource_manager.cpp b/..._interface/test/test_resource_manager.cpp → ...ce_testing/test/test_resource_manager.cpp
diff --git a/..._interface/test/test_resource_manager.hpp → ...ce_testing/test/test_resource_manager.hpp b/..._interface/test/test_resource_manager.hpp → ...ce_testing/test/test_resource_manager.hpp
diff --git a/...source_manager_prepare_perform_switch.cpp → ...source_manager_prepare_perform_switch.cpp b/...source_manager_prepare_perform_switch.cpp → ...source_manager_prepare_perform_switch.cpp