Add tests for CLI commands (backport #586)

example_1/CMakeLists.txt

@@ -68,6 +68,7 @@ if(BUILD_TESTING)
   ament_add_pytest_test(example_1_urdf_xacro test/test_urdf_xacro.py)
   ament_add_pytest_test(view_example_1_launch test/test_view_robot_launch.py)
   ament_add_pytest_test(run_example_1_launch test/test_rrbot_launch.py)
+  ament_add_pytest_test(run_example_1_launch_cli_direct test/test_rrbot_launch_cli_direct.py)
 endif()
 
 

example_1/test/test_rrbot_launch.py

@@ -31,6 +31,7 @@
 import os
 import pytest
 import unittest
+import subprocess
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
@@ -89,6 +90,44 @@ def test_check_if_msgs_published(self):
         check_if_js_published("/joint_states", ["joint1", "joint2"])
 
 
+class TestFixtureCLI(unittest.TestCase):
+
+    def setUp(self):
+        rclpy.init()
+        self.node = Node("test_node")
+
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
+
+    def test_main(self, proc_output):
+
+        # Command to run the CLI
+        cname = "joint_trajectory_position_controller"
+        command = ["ros2", "control", "load_controller", cname]
+        subprocess.run(command, check=True)
+        check_controllers_running(self.node, [cname], state="unconfigured")
+        check_controllers_running(self.node, ["forward_position_controller"], state="active")
+
+        command = ["ros2", "control", "set_controller_state", cname, "inactive"]
+        subprocess.run(command, check=True)
+        check_controllers_running(self.node, [cname], state="inactive")
+        check_controllers_running(self.node, ["forward_position_controller"], state="active")
+
+        command = [
+            "ros2",
+            "control",
+            "set_controller_state",
+            "forward_position_controller",
+            "inactive",
+        ]
+        subprocess.run(command, check=True)
+        command = ["ros2", "control", "set_controller_state", cname, "active"]
+        subprocess.run(command, check=True)
+        check_controllers_running(self.node, ["forward_position_controller"], state="inactive")
+        check_controllers_running(self.node, [cname], state="active")
+
+
 # TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
 # @launch_testing.post_shutdown_test()
 # # These tests are run after the processes in generate_test_description() have shutdown.

example_1/test/test_rrbot_launch_cli_direct.py

@@ -0,0 +1,104 @@
+# Copyright (c) 2024 AIT - Austrian Institute of Technology GmbH
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Christoph Froehlich
+
+import os
+import pytest
+import unittest
+import subprocess
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_testing.actions import ReadyToTest
+
+# import launch_testing.markers
+import rclpy
+from rclpy.node import Node
+from ros2_control_demo_testing.test_utils import check_controllers_running
+
+
+# Executes the given launch file and checks if all nodes can be started
+@pytest.mark.rostest
+def generate_test_description():
+    launch_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("ros2_control_demo_example_1"),
+                "launch/rrbot.launch.py",
+            )
+        ),
+        launch_arguments={"gui": "False"}.items(),
+    )
+
+    return LaunchDescription([launch_include, ReadyToTest()])
+
+
+class TestFixtureCliDirect(unittest.TestCase):
+
+    def setUp(self):
+        rclpy.init()
+        self.node = Node("test_node")
+
+    def tearDown(self):
+        self.node.destroy_node()
+        rclpy.shutdown()
+
+    def test_main(self, proc_output):
+
+        # Command to run the CLI
+        cname = "joint_trajectory_position_controller"
+        command = ["ros2", "control", "load_controller", "--set-state", "inactive", cname]
+        subprocess.run(command, check=True)
+        check_controllers_running(self.node, [cname], state="inactive")
+        check_controllers_running(self.node, ["forward_position_controller"], state="active")
+
+        command = [
+            "ros2",
+            "control",
+            "switch_controllers",
+            "--activate",
+            cname,
+            "--deactivate",
+            "forward_position_controller",
+        ]
+        subprocess.run(command, check=True)
+        check_controllers_running(self.node, ["forward_position_controller"], state="inactive")
+        check_controllers_running(self.node, [cname], state="active")
+
+
+# TODO(anyone): enable this if shutdown of ros2_control_node does not fail anymore
+# @launch_testing.post_shutdown_test()
+# # These tests are run after the processes in generate_test_description() have shutdown.
+# class TestDescriptionCraneShutdown(unittest.TestCase):
+
+#     def test_exit_codes(self, proc_info):
+#         """Check if the processes exited normally."""
+#         launch_testing.asserts.assertExitCodes(proc_info)

ros2_control_demo_testing/ros2_control_demo_testing/test_utils.py

@@ -45,7 +45,7 @@ def check_node_running(node, node_name, timeout=5.0):
     assert found, f"{node_name} not found!"
 
 
-def check_controllers_running(node, cnames, namespace=""):
+def check_controllers_running(node, cnames, namespace="", state="active"):
 
     # wait for controller to be loaded before we call the CM services
     found = {cname: False for cname in cnames}  # Define 'found' as a dictionary
@@ -85,14 +85,14 @@ def check_controllers_running(node, cnames, namespace=""):
         assert controllers, "No controllers found!"
         for c in controllers:
             for cname in cnames:
-                if c.name == cname and c.state == "active":
+                if c.name == cname and c.state == state:
                     found[cname] = True
                     break
         time.sleep(0.1)
 
     assert all(
         found.values()
-    ), f"Controller(s) not found or not active: {', '.join([cname for cname, is_found in found.items() if not is_found])}"
+    ), f"Controller(s) not found or not {state}: {', '.join([cname for cname, is_found in found.items() if not is_found])}"
 
 
 def check_if_js_published(topic, joint_names):