From a86bc40aafc3b4a38753185d97e897b5a8f3405b Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Mon, 11 Dec 2023 18:19:16 +0100
Subject: [PATCH] Remove old parameter from tests.

---
 .../test/test_hardware_management_srvs.cpp    | 66 ++-----------------
 1 file changed, 4 insertions(+), 62 deletions(-)

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
index 0fc7a2f27e..7afaa68d24 100644
--- a/controller_manager/test/test_hardware_management_srvs.cpp
+++ b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -205,7 +205,8 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
 TEST_F(TestControllerManagerHWManagementSrvs, list_hardware_components)
 {
   // Default status after start:
-  // checks if "configure_components_on_start" and "activate_components_on_start" are correctly read
+  // checks if "hardware_components_initial_state.unconfigured" and 
+  // "hardware_components_initial_state.inactive" are correctly read
 
   list_hardware_components_and_check(
     // actuator, sensor, system
@@ -391,8 +392,8 @@ class TestControllerManagerHWManagementSrvsWithoutParams
 
 TEST_F(TestControllerManagerHWManagementSrvsWithoutParams, test_default_activation_of_all_hardware)
 {
-  // "configure_components_on_start" and "activate_components_on_start" are not set (empty)
-  // therefore all hardware components are active
+  // "hardware_components_initial_state.unconfigured" and "hardware_components_initial_state.inactive" 
+  // are not set (empty). Therefore, all hardware components are active.
   list_hardware_components_and_check(
     // actuator, sensor, system
     std::vector<uint8_t>(
@@ -412,62 +413,3 @@ TEST_F(TestControllerManagerHWManagementSrvsWithoutParams, test_default_activati
       {{false, false, false, false}, {false, false, false, false, false, false, false}},  // system
     }));
 }
-
-// BEGIN: Remove at the end of 2023
-class TestControllerManagerHWManagementSrvsOldParameters
-: public TestControllerManagerHWManagementSrvs
-{
-public:
-  void SetUp() override
-  {
-    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-    cm_ = std::make_shared<controller_manager::ControllerManager>(
-      std::make_unique<hardware_interface::ResourceManager>(), executor_, TEST_CM_NAME);
-    run_updater_ = false;
-
-    cm_->set_parameter(
-      rclcpp::Parameter("robot_description", ros2_control_test_assets::minimal_robot_urdf));
-    cm_->set_parameter(rclcpp::Parameter(
-      "activate_components_on_start", std::vector<std::string>({TEST_ACTUATOR_HARDWARE_NAME})));
-    cm_->set_parameter(rclcpp::Parameter(
-      "configure_components_on_start", std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));
-
-    std::string robot_description = "";
-    cm_->get_parameter("robot_description", robot_description);
-    if (robot_description.empty())
-    {
-      throw std::runtime_error(
-        "Unable to initialize resource manager, no robot description found.");
-    }
-
-    cm_->init_resource_manager(robot_description);
-
-    SetUpSrvsCMExecutor();
-  }
-};
-
-TEST_F(TestControllerManagerHWManagementSrvsOldParameters, list_hardware_components)
-{
-  // Default status after start:
-  // checks if "configure_components_on_start" and "activate_components_on_start" are correctly read
-
-  list_hardware_components_and_check(
-    // actuator, sensor, system
-    std::vector<uint8_t>(
-      {LFC_STATE::PRIMARY_STATE_ACTIVE, LFC_STATE::PRIMARY_STATE_INACTIVE,
-       LFC_STATE::PRIMARY_STATE_UNCONFIGURED}),
-    std::vector<std::string>({ACTIVE, INACTIVE, UNCONFIGURED}),
-    std::vector<std::vector<std::vector<bool>>>({
-      // is available
-      {{true, true}, {true, true, true}},  // actuator
-      {{}, {true}},                        // sensor
-      {{false, false, false, false}, {false, false, false, false, false, false, false}},  // system
-    }),
-    std::vector<std::vector<std::vector<bool>>>({
-      // is claimed
-      {{false, false}, {false, false, false}},  // actuator
-      {{}, {false}},                            // sensor
-      {{false, false, false, false}, {false, false, false, false, false, false, false}},  // system
-    }));
-}
-// END: Remove at the end of 2023