From 7a3840f28992957e4100accfa9b21f1714ad2572 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Sun, 16 Jun 2024 14:46:23 +0200 Subject: [PATCH] Test also for the unconfigured and finalized lifecycle states --- .../test/test_resource_manager.cpp | 56 +++++++++++++++++++ 1 file changed, 56 insertions(+) diff --git a/hardware_interface_testing/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp index 31fb38faaa..1f45e3d100 100644 --- a/hardware_interface_testing/test/test_resource_manager.cpp +++ b/hardware_interface_testing/test/test_resource_manager.cpp @@ -1905,3 +1905,59 @@ TEST_F( check_read_and_write_cycles(true); } + +TEST_F( + ResourceManagerTestReadWriteDifferentReadWriteRate, + test_components_with_different_read_write_freq_on_unconfigured) +{ + setup_resource_manager_and_do_initial_checks(); + + // Now deactivate all the components and test the same as above + rclcpp_lifecycle::State state_unconfigured( + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, + hardware_interface::lifecycle_state_names::UNCONFIGURED); + rm->set_component_state(TEST_SYSTEM_HARDWARE_NAME, state_unconfigured); + rm->set_component_state(TEST_ACTUATOR_HARDWARE_NAME, state_unconfigured); + rm->set_component_state(TEST_SENSOR_HARDWARE_NAME, state_unconfigured); + + auto status_map = rm->get_components_status(); + EXPECT_EQ( + status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + EXPECT_EQ( + status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + EXPECT_EQ( + status_map[TEST_SENSOR_HARDWARE_NAME].state.id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED); + + check_read_and_write_cycles(false); +} + +TEST_F( + ResourceManagerTestReadWriteDifferentReadWriteRate, + test_components_with_different_read_write_freq_on_finalized) +{ + setup_resource_manager_and_do_initial_checks(); + + // Now deactivate all the components and test the same as above + rclcpp_lifecycle::State state_finalized( + lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, + hardware_interface::lifecycle_state_names::FINALIZED); + rm->set_component_state(TEST_SYSTEM_HARDWARE_NAME, state_finalized); + rm->set_component_state(TEST_ACTUATOR_HARDWARE_NAME, state_finalized); + rm->set_component_state(TEST_SENSOR_HARDWARE_NAME, state_finalized); + + auto status_map = rm->get_components_status(); + EXPECT_EQ( + status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED); + EXPECT_EQ( + status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED); + EXPECT_EQ( + status_map[TEST_SENSOR_HARDWARE_NAME].state.id(), + lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED); + + check_read_and_write_cycles(false); +}