From 95847290f5575f756d62037731e8b415de46699e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 29 Dec 2023 09:31:57 +0000
Subject: [PATCH] Increase test coverage for deprecated config structure

---
 hardware_interface/src/component_parser.cpp   |  9 +++--
 .../test/test_component_parser.cpp            | 29 ++++++++++++++
 .../ros2_control_test_assets/descriptions.hpp | 40 +++++++++++++++++++
 3 files changed, 74 insertions(+), 4 deletions(-)

diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index ef0f01e022a..cfec6486165 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -355,8 +355,8 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it
   if (component.is_mimic && command_interfaces_it)
   {
     throw std::runtime_error(
-      "Component " + std::string(component.name) +
-      " has mimic attribute set to true: Mimic joints cannot have command interfaces.");
+      "Component '" + std::string(component.name) +
+      "' has mimic attribute set to true: Mimic joints cannot have command interfaces.");
   }
   while (command_interfaces_it)
   {
@@ -665,6 +665,7 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
       const auto & joint = hw_info.joints.at(i);
 
       // Search for mimic joints defined in ros2_control tag (deprecated)
+      // TODO(christophfroehlich) delete deprecated config with ROS-J
       if (joint.parameters.find("mimic") != joint.parameters.cend())
       {
         std::cerr << "Warning: Mimic joints defined in ros2_control tag are deprecated. "
@@ -715,7 +716,7 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
                 [&name](const auto & j) { return j.name == name; });
               if (it == hw_info.joints.end())
               {
-                throw std::runtime_error("Joint `" + name + "` not found in hw_info.joints");
+                throw std::runtime_error("Joint '" + name + "' not found in hw_info.joints");
               }
               return std::distance(hw_info.joints.begin(), it);
             };
@@ -729,7 +730,7 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
           }
           else
           {
-            throw std::runtime_error("Joint `" + joint.name + "` has no mimic information in URDF");
+            throw std::runtime_error("Joint '" + joint.name + "' has no mimic information in URDF");
           }
         }
       }
diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
index d1d3d1e38e9..29d1ab23659 100644
--- a/hardware_interface/test/test_component_parser.cpp
+++ b/hardware_interface/test/test_component_parser.cpp
@@ -691,6 +691,35 @@ TEST_F(TestComponentParser, mimic_true_valid_config)
   EXPECT_EQ(hw_info[0].mimic_joints[0].joint_index, 1);
 }
 
+// TODO(christophfroehlich) delete deprecated config test
+TEST_F(TestComponentParser, mimic_deprecated_valid_config)
+{
+  const auto urdf_to_test =
+    std::string(ros2_control_test_assets::gripper_urdf_head) +
+    std::string(ros2_control_test_assets::gripper_hardware_resources_mimic_deprecated) +
+    std::string(ros2_control_test_assets::urdf_tail);
+  std::vector<hardware_interface::HardwareInfo> hw_info;
+  ASSERT_NO_THROW(hw_info = parse_control_resources_from_urdf(urdf_to_test));
+  ASSERT_THAT(hw_info, SizeIs(1));
+  ASSERT_THAT(hw_info[0].mimic_joints, SizeIs(1));
+  EXPECT_DOUBLE_EQ(hw_info[0].mimic_joints[0].multiplier, 1.0);
+  EXPECT_DOUBLE_EQ(hw_info[0].mimic_joints[0].offset, 0.0);
+  EXPECT_EQ(hw_info[0].mimic_joints[0].mimicked_joint_index, 0);
+  EXPECT_EQ(hw_info[0].mimic_joints[0].joint_index, 1);
+}
+
+TEST_F(TestComponentParser, mimic_deprecated_unknown_joint_throws_error)
+{
+  const auto urdf_to_test =
+    std::string(ros2_control_test_assets::gripper_urdf_head) +
+    std::string(
+      ros2_control_test_assets::gripper_hardware_resources_mimic_deprecated_unknown_joint) +
+    std::string(ros2_control_test_assets::urdf_tail);
+  std::vector<hardware_interface::HardwareInfo> hw_info;
+  ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+// end delete deprecated config test
+
 TEST_F(TestComponentParser, mimic_with_unknown_joint_throws_error)
 {
   const auto urdf_to_test =
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index a1de69e5bf8..51a2e31a2d0 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -873,6 +873,46 @@ const auto gripper_hardware_resources_mimic_true_no_command_if =
   </ros2_control>
   )";
 
+// TODO(christophfroehlich) delete deprecated config test
+const auto gripper_hardware_resources_mimic_deprecated =
+  R"(
+  <ros2_control name="TestGripper" type="system">
+    <joint name="right_finger_joint">
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="left_finger_joint">
+      <param name="mimic">right_finger_joint</param>
+      <param name="multiplier">1</param>
+      <command_interface name="position"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </ros2_control>
+  )";
+
+const auto gripper_hardware_resources_mimic_deprecated_unknown_joint =
+  R"(
+  <ros2_control name="TestGripper" type="system">
+    <joint name="right_finger_joint">
+      <command_interface name="effort"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="left_finger_joint">
+      <param name="mimic">middle_finger_joint</param>
+      <param name="multiplier">1</param>
+      <command_interface name="position"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </ros2_control>
+  )";
+// end delete deprecated config test
+
 const auto gripper_hardware_resources_mimic_true_command_if =
   R"(
   <ros2_control name="TestGripper" type="system">