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Add test coverage for params_file parameter in spawner/unspawner te…
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…sts (#1754)

(cherry picked from commit 84e85f9)

# Conflicts:
#	controller_manager/test/test_spawner_unspawner.cpp
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@SantoshGovindaraj @mergify
SantoshGovindaraj authored and mergify[bot] committed Nov 3, 2024
1 parent 600cc63 commit c323ac1
Showing 1 changed file with 170 additions and 0 deletions.
170 changes: 170 additions & 0 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,11 +229,63 @@ TEST_F(TestLoadController, spawner_test_type_in_arg)
std::string(test_controller::TEST_CONTROLLER_CLASS_NAME)),
0);

<<<<<<< HEAD
ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);
auto ctrl_2 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
=======
ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);

auto ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
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(
chain_ctrl_with_parameters_and_type.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.info.type,
test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
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(
"ctrl_with_parameters_and_no_type -c test_controller_manager --controller-manager-timeout "
"1.0 -p " +
test_file_path),
256);
// Will still be same as the current call will fail
ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);

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_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);
>>>>>>> 84e85f9 (Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754))
}

TEST_F(TestLoadController, unload_on_kill)
Expand All @@ -254,6 +306,84 @@ TEST_F(TestLoadController, unload_on_kill)
ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
}

<<<<<<< HEAD
=======
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_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
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_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");
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_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");
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_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_3.params_file").as_string(), test_file_path);
}
}

>>>>>>> 84e85f9 (Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754))
TEST_F(TestLoadController, spawner_with_many_controllers)
{
std::stringstream ss;
Expand Down Expand Up @@ -533,6 +663,8 @@ 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 @@ -543,6 +675,9 @@ 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 @@ -556,12 +691,27 @@ 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);
<<<<<<< HEAD
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
=======
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);
>>>>>>> 84e85f9 (Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754))

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);
<<<<<<< HEAD
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
=======
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);
>>>>>>> 84e85f9 (Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754))
}

TEST_F(
Expand Down Expand Up @@ -609,6 +759,8 @@ 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 @@ -619,6 +771,9 @@ 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 @@ -632,10 +787,25 @@ 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);
<<<<<<< HEAD
ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
=======
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);
>>>>>>> 84e85f9 (Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754))

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);
<<<<<<< HEAD
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
=======
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);
>>>>>>> 84e85f9 (Add test coverage for `params_file` parameter in spawner/unspawner tests (#1754))
}

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