Test fix: don't keep reference to the controller in the test when it …

…should be destroyed in the controller manager (ros-controls#883)
henrygerardmoore · Jan 18, 2023 · 70a156e · 70a156e
1 parent a4f682e
commit 70a156e
Showing 1 changed file with 41 additions and 10 deletions.
diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -99,29 +99,60 @@ TEST_F(TestLoadController, spawner_test_type_in_param)
   EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 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_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  {
+    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_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  }
 
   // Try to spawn again, it should fail because already active
   EXPECT_NE(call_spawner("ctrl_1 -c test_controller_manager"), 0) << "Cannot configure from active";
-  ctrl_1.c->get_node()->deactivate();
+
+  std::vector<std::string> start_controllers = {};
+  std::vector<std::string> stop_controllers = {"ctrl_1"};
+  cm_->switch_controller(
+    start_controllers, stop_controllers,
+    controller_manager_msgs::srv::SwitchController::Request::STRICT, true, rclcpp::Duration(0, 0));
+
   // We should be able to reconfigure and activate a configured controller
   EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 0);
-  ctrl_1.c->get_node()->deactivate();
-  ctrl_1.c->get_node()->cleanup();
+
+  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_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  }
+
+  cm_->switch_controller(
+    start_controllers, stop_controllers,
+    controller_manager_msgs::srv::SwitchController::Request::STRICT, true, rclcpp::Duration(0, 0));
+  cm_->unload_controller("ctrl_1");
+  cm_->load_controller("ctrl_1");
+
   // We should be able to reconfigure and activate am unconfigured loaded controller
   EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 0);
-  ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  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_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  }
 
   // Unload and reload
   EXPECT_EQ(call_unspawner("ctrl_1 -c test_controller_manager"), 0);
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul) << "Controller should have been unloaded";
   EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 0);
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul) << "Controller should have been loaded";
-  ctrl_1 = cm_->get_loaded_controllers()[0];
-  ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  {
+    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_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+  }
 }
 
 TEST_F(TestLoadController, spawner_test_type_in_arg)