From 84e85f9f0bbd67af9eebbe40bf5eef89792945ff 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 | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp index 0812d7ffa4..cba832f8bf 100644 --- a/controller_manager/test/test_spawner_unspawner.cpp +++ b/controller_manager/test/test_spawner_unspawner.cpp @@ -277,6 +277,8 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file) ASSERT_EQ( ctrl_with_parameters_and_type.c->get_lifecycle_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( @@ -287,6 +289,9 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file) ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_lifecycle_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( @@ -302,12 +307,17 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file) ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_1.c->get_lifecycle_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_lifecycle_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) @@ -367,6 +377,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers) ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty()); ASSERT_EQ( ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter("ctrl_1.params_file").as_string(), test_file_path); } // Try to spawn now the controller with fallback controllers inside the yaml @@ -381,6 +392,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers) ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty()); ASSERT_EQ( ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter("ctrl_1.params_file").as_string(), test_file_path); auto ctrl_2 = cm_->get_loaded_controllers()[1]; ASSERT_EQ(ctrl_2.info.name, "ctrl_2"); @@ -389,6 +401,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers) ctrl_2.info.fallback_controllers_names, testing::ElementsAre("ctrl_6", "ctrl_7", "ctrl_8")); ASSERT_EQ( ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter("ctrl_2.params_file").as_string(), test_file_path); auto ctrl_3 = cm_->get_loaded_controllers()[2]; ASSERT_EQ(ctrl_3.info.name, "ctrl_3"); @@ -396,6 +409,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers) ASSERT_THAT(ctrl_3.info.fallback_controllers_names, testing::ElementsAre("ctrl_9")); ASSERT_EQ( ctrl_3.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + ASSERT_EQ(cm_->get_parameter("ctrl_3.params_file").as_string(), test_file_path); } } @@ -680,6 +694,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ( ctrl_with_parameters_and_type.c->get_lifecycle_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( @@ -690,6 +706,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_lifecycle_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( @@ -705,12 +724,17 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_1.c->get_lifecycle_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_lifecycle_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( @@ -758,6 +782,8 @@ TEST_F( ASSERT_EQ( ctrl_with_parameters_and_type.c->get_lifecycle_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( @@ -768,6 +794,9 @@ TEST_F( ASSERT_EQ( chain_ctrl_with_parameters_and_type.c->get_lifecycle_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( @@ -783,10 +812,15 @@ TEST_F( ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME); ASSERT_EQ( ctrl_1.c->get_lifecycle_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_lifecycle_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); }