Add testing for the component parser of the read and write rate

ros-controls · Jun 16, 2024 · 0c5e78d · 0c5e78d
1 parent 6a3d92d
commit 0c5e78d
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Showing 3 changed files with 95 additions and 5 deletions.
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
@@ -233,14 +233,29 @@ std::string parse_data_type_attribute(const tinyxml2::XMLElement * elem)
 unsigned int parse_rw_rate_attribute(const tinyxml2::XMLElement * elem)
 {
  const tinyxml2::XMLAttribute * attr = elem->FindAttribute(kReadWriteRateAttribute);
- const auto rw_rate = attr ? std::stoi(attr->Value()) : 0;
- if (rw_rate < 0)
+ try
+ {
+ const auto rw_rate = attr ? std::stoi(attr->Value()) : 0;
+ if (rw_rate < 0)
+ {
+ throw std::runtime_error(
+ "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." + "Got \"" +
+ std::to_string(rw_rate) + "\", but expected a positive integer.");
+ }
+ return static_cast<unsigned int>(rw_rate);
+ }
+ catch (const std::invalid_argument & e)
+ {
+ throw std::runtime_error(
+ "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." +
+ " Invalid value : \"" + attr->Value() + "\", expected a positive integer.");
+ }
+ catch (const std::out_of_range & e)
  {
  throw std::runtime_error(
- "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." + "Got \"" +
- std::to_string(rw_rate) + "\", but expected a positive integer.");
+ "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." +
+ " Out of range value : \"" + attr->Value() + "\", expected a positive valid integer.");
  }
- return static_cast<unsigned int>(rw_rate);
 }
 
 /// Parse is_async attribute

diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
@@ -1358,6 +1358,36 @@ TEST_F(TestComponentParser, gripper_mimic_deprecated_valid_config)
  EXPECT_EQ(hw_info[0].mimic_joints[0].joint_index, 1);
 }
 
+TEST_F(TestComponentParser, negative_rw_rates_throws_error)
+{
+ const auto urdf_to_test =
+ std::string(ros2_control_test_assets::gripper_urdf_head) +
+ std::string(ros2_control_test_assets::hardware_resources_with_negative_rw_rates) +
+ std::string(ros2_control_test_assets::urdf_tail);
+ std::vector<hardware_interface::HardwareInfo> hw_info;
+ ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+
+TEST_F(TestComponentParser, invalid_rw_rates_throws_error)
+{
+ const auto urdf_to_test =
+ std::string(ros2_control_test_assets::gripper_urdf_head) +
+ std::string(ros2_control_test_assets::hardware_resources_invalid_with_text_in_rw_rates) +
+ std::string(ros2_control_test_assets::urdf_tail);
+ std::vector<hardware_interface::HardwareInfo> hw_info;
+ ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+
+TEST_F(TestComponentParser, invalid_rw_rates_out_of_range)
+{
+ const auto urdf_to_test =
+ std::string(ros2_control_test_assets::gripper_urdf_head) +
+ std::string(ros2_control_test_assets::hardware_resources_invalid_out_of_range_in_rw_rates) +
+ std::string(ros2_control_test_assets::urdf_tail);
+ std::vector<hardware_interface::HardwareInfo> hw_info;
+ ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+
 TEST_F(TestComponentParser, gripper_mimic_deprecated_unknown_joint_throws_error)
 {
  const auto urdf_to_test =

diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -709,6 +709,51 @@ const auto hardware_resources_with_different_rw_rates =
  </ros2_control>
 )";
 
+const auto hardware_resources_with_negative_rw_rates =
+ R"(
+ <ros2_control name="TestActuatorHardware" type="actuator" rw_rate="-50">
+ <hardware>
+ <plugin>test_actuator</plugin>
+ </hardware>
+ <joint name="right_finger_joint">
+ <command_interface name="position"/>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <command_interface name="max_velocity" />
+ </joint>
+ </ros2_control>
+)";
+
+const auto hardware_resources_invalid_with_text_in_rw_rates =
+ R"(
+ <ros2_control name="TestActuatorHardware" type="actuator" rw_rate="d 50">
+ <hardware>
+ <plugin>test_actuator</plugin>
+ </hardware>
+ <joint name="right_finger_joint">
+ <command_interface name="position"/>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <command_interface name="max_velocity" />
+ </joint>
+ </ros2_control>
+)";
+
+const auto hardware_resources_invalid_out_of_range_in_rw_rates =
+ R"(
+ <ros2_control name="TestActuatorHardware" type="actuator" rw_rate="12345678901">
+ <hardware>
+ <plugin>test_actuator</plugin>
+ </hardware>
+ <joint name="right_finger_joint">
+ <command_interface name="position"/>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <command_interface name="max_velocity" />
+ </joint>
+ </ros2_control>
+)";
+
 const auto uninitializable_hardware_resources =
  R"(
  <ros2_control name="TestUninitializableActuatorHardware" type="actuator">