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Add test coverage for params_file parameter in spawner/unspawner te…
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…sts (#1754)
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@SantoshGovindaraj @saikishor
SantoshGovindaraj authored and saikishor committed Nov 3, 2024
1 parent b15d267 commit 6207854
Showing 1 changed file with 117 additions and 6 deletions.
123 changes: 117 additions & 6 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -288,6 +288,8 @@ TEST_F(TestLoadController, 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(
Expand All @@ -298,6 +300,9 @@ TEST_F(TestLoadController, 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(
Expand All @@ -309,12 +314,19 @@ TEST_F(TestLoadController, 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);
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(
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)
Expand All @@ -335,6 +347,81 @@ TEST_F(TestLoadController, unload_on_kill)
ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
}

TEST_F(TestLoadController, unload_on_kill_activate_as_group)
{
// 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));
cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
std::stringstream ss;
ss << "timeout --signal=INT 5 "
<< std::string(coveragepy_script) +
" $(ros2 pkg prefix controller_manager)/lib/controller_manager/spawner "
<< "ctrl_3 ctrl_2 --activate-as-group -c test_controller_manager --unload-on-kill";

EXPECT_NE(std::system(ss.str().c_str()), 0)
<< "timeout should have killed spawner and returned non 0 code";

ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
}

TEST_F(TestLoadController, spawner_test_fallback_controllers)
{
const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +
"/test/test_controller_spawner_with_fallback_controllers.yaml";

cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME));

ControllerManagerRunner cm_runner(this);
EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager --load-only -p " + test_file_path), 0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);
{
auto ctrl_1 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
ASSERT_EQ(
ctrl_1.c->get_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
EXPECT_EQ(
call_spawner("ctrl_2 ctrl_3 -c test_controller_manager --load-only -p " + test_file_path), 0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul);
{
auto ctrl_1 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
ASSERT_EQ(
ctrl_1.c->get_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");
ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_THAT(
ctrl_2.info.fallback_controllers_names, testing::ElementsAre("ctrl_6", "ctrl_7", "ctrl_8"));
ASSERT_EQ(
ctrl_2.c->get_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");
ASSERT_EQ(ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_THAT(ctrl_3.info.fallback_controllers_names, testing::ElementsAre("ctrl_9"));
ASSERT_EQ(
ctrl_3.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_3.params_file").as_string(), test_file_path);
}
}

TEST_F(TestLoadController, spawner_with_many_controllers)
{
std::stringstream ss;
Expand Down Expand Up @@ -614,6 +701,8 @@ 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(
Expand All @@ -624,6 +713,9 @@ 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(
Expand All @@ -637,12 +729,19 @@ 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);
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(
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(
Expand Down Expand Up @@ -690,6 +789,8 @@ 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(
Expand All @@ -700,6 +801,9 @@ 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(
Expand All @@ -713,10 +817,17 @@ 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);
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(
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);
}

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