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[MockHardware] Fix the issues where hardware with multiple interfaces can not be started because of a logical bug added when adding dynamics calculation functionality. #1151

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merged 2 commits into from
Nov 6, 2023
Merged

[MockHardware] Fix the issues where hardware with multiple interfaces can not be started because of a logical bug added when adding dynamics calculation functionality. #1151

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2410274
Fix the issues where hardware with multiple interfaces can not be sta…
destogl Nov 2, 2023
25e3de4
Shorten test
bmagyar Nov 6, 2023
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5 changes: 5 additions & 0 deletions hardware_interface/src/mock_components/generic_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -388,6 +388,11 @@ return_type GenericSystem::prepare_command_mode_switch(
{
hardware_interface::return_type ret_val = hardware_interface::return_type::OK;

if (!calculate_dynamics_)
{
return ret_val;
}

const size_t FOUND_ONCE_FLAG = 1000000;

std::vector<size_t> joint_found_in_x_requests_;
Expand Down
81 changes: 81 additions & 0 deletions hardware_interface/test/mock_components/test_generic_system.cpp
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Expand Up @@ -518,6 +518,46 @@ class TestGenericSystem : public ::testing::Test
</ros2_control>
)";

valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
R"(
<ros2_control name="HardwareSystem2dofStandardInterfacesWithDifferentControlModes" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">3.45</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="joint2">
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">2.78</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="joint3">
<command_interface name="acceleration"/>
<state_interface name="position">
<param name="initial_value">2.78</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<gpio name="flange_vacuum">
<command_interface name="vacuum"/>
<state_interface name="vacuum" data_type="double"/>
</gpio>
</ros2_control>
)";

disabled_commands_ =
R"(
<ros2_control name="GenericSystem2dof" type="system">
Expand Down Expand Up @@ -556,6 +596,7 @@ class TestGenericSystem : public ::testing::Test
std::string sensor_with_initial_value_;
std::string gpio_with_initial_value_;
std::string hardware_system_2dof_standard_interfaces_with_different_control_modes_;
std::string valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_;
std::string disabled_commands_;
};

Expand Down Expand Up @@ -1901,3 +1942,43 @@ TEST_F(TestGenericSystem, disabled_commands_flag_is_active)
ASSERT_EQ(0.0, j1v_s.get_value());
ASSERT_EQ(0.11, j1p_c.get_value());
}

TEST_F(TestGenericSystem, prepare_command_mode_switch_works_with_all_example_tags)
{
auto check_prepare_command_mode_switch = [&](const std::string & urdf)
{
TestableResourceManager rm(
ros2_control_test_assets::urdf_head + urdf + ros2_control_test_assets::urdf_tail);
auto start_interfaces = rm.command_interface_keys();
std::vector<std::string> stop_interfaces;
return rm.prepare_command_mode_switch(start_interfaces, stop_interfaces);
};

ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_asymetric_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_standard_interfaces_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_other_interface_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_sensor_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_sensor_mock_command_));
ASSERT_TRUE(
check_prepare_command_mode_switch(hardware_system_2dof_with_sensor_mock_command_True_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_mimic_joint_));
ASSERT_TRUE(
check_prepare_command_mode_switch(hardware_system_2dof_standard_interfaces_with_offset_));
ASSERT_TRUE(check_prepare_command_mode_switch(
hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_));
ASSERT_TRUE(check_prepare_command_mode_switch(
hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_));
ASSERT_TRUE(check_prepare_command_mode_switch(valid_urdf_ros2_control_system_robot_with_gpio_));
ASSERT_TRUE(check_prepare_command_mode_switch(
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_));
ASSERT_TRUE(check_prepare_command_mode_switch(
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_));
ASSERT_TRUE(check_prepare_command_mode_switch(sensor_with_initial_value_));
ASSERT_TRUE(check_prepare_command_mode_switch(gpio_with_initial_value_));
ASSERT_FALSE(check_prepare_command_mode_switch(
hardware_system_2dof_standard_interfaces_with_different_control_modes_));
ASSERT_TRUE(check_prepare_command_mode_switch(
valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_));
ASSERT_TRUE(check_prepare_command_mode_switch(disabled_commands_));
}
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