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[ResourceManager] adds test for uninitialized hardware #1243

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Jan 4, 2024
Merged

[ResourceManager] adds test for uninitialized hardware #1243

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10 changes: 10 additions & 0 deletions hardware_interface/test/test_components/test_actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,5 +120,15 @@ class TestActuator : public ActuatorInterface
double max_velocity_command_ = 0.0;
};

class TestUnitilizableActuator : public TestActuator
{
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
{
ActuatorInterface::on_init(info);
return CallbackReturn::ERROR;
}
};

#include "pluginlib/class_list_macros.hpp" // NOLINT
PLUGINLIB_EXPORT_CLASS(TestActuator, hardware_interface::ActuatorInterface)
PLUGINLIB_EXPORT_CLASS(TestUnitilizableActuator, hardware_interface::ActuatorInterface)
18 changes: 18 additions & 0 deletions hardware_interface/test/test_components/test_components.xml
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Expand Up @@ -17,4 +17,22 @@
Test System
</description>
</class>

<class name="test_unitilizable_actuator" type="TestUnitilizableActuator" base_class_type="hardware_interface::ActuatorInterface">
<description>
Test Unitilizable Actuator
</description>
</class>

<class name="test_unitilizable_sensor" type="TestUnitilizableSensor" base_class_type="hardware_interface::SensorInterface">
<description>
Test Unitilizable Sensor
</description>
</class>

<class name="test_unitilizable_system" type="TestUnitilizableSystem" base_class_type="hardware_interface::SystemInterface">
<description>
Test Unitilizable System
</description>
</class>
</library>
10 changes: 10 additions & 0 deletions hardware_interface/test/test_components/test_sensor.cpp
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Expand Up @@ -55,5 +55,15 @@ class TestSensor : public SensorInterface
double velocity_state_ = 0.0;
};

class TestUnitilizableSensor : public TestSensor
{
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
{
SensorInterface::on_init(info);
return CallbackReturn::ERROR;
}
};

#include "pluginlib/class_list_macros.hpp" // NOLINT
PLUGINLIB_EXPORT_CLASS(TestSensor, hardware_interface::SensorInterface)
PLUGINLIB_EXPORT_CLASS(TestUnitilizableSensor, hardware_interface::SensorInterface)
10 changes: 10 additions & 0 deletions hardware_interface/test/test_components/test_system.cpp
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Expand Up @@ -123,5 +123,15 @@ class TestSystem : public SystemInterface
double configuration_command_ = 0.0;
};

class TestUnitilizableSystem : public TestSystem
{
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
{
SystemInterface::on_init(info);
return CallbackReturn::ERROR;
}
};

#include "pluginlib/class_list_macros.hpp" // NOLINT
PLUGINLIB_EXPORT_CLASS(TestSystem, hardware_interface::SystemInterface)
PLUGINLIB_EXPORT_CLASS(TestUnitilizableSystem, hardware_interface::SystemInterface)
40 changes: 40 additions & 0 deletions hardware_interface/test/test_resource_manager.cpp
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Expand Up @@ -69,6 +69,7 @@ class TestableResourceManager : public hardware_interface::ResourceManager
FRIEND_TEST(ResourceManagerTest, post_initialization_add_components);
FRIEND_TEST(ResourceManagerTest, managing_controllers_reference_interfaces);
FRIEND_TEST(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle);
FRIEND_TEST(ResourceManagerTest, test_unitilizable_hardware_no_validation);

TestableResourceManager() : hardware_interface::ResourceManager() {}

Expand Down Expand Up @@ -154,6 +155,45 @@ TEST_F(ResourceManagerTest, post_initialization_with_urdf)
ASSERT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_robot_urdf));
}

TEST_F(ResourceManagerTest, test_unitilizable_hardware_validation)
{
// If the the hardware can not be initialized and load_urdf tried to validate the interfaces a
// runtime exception is thrown
TestableResourceManager rm;
ASSERT_THROW(
rm.load_urdf(ros2_control_test_assets::minimal_unitilizable_robot_urdf, true),
std::runtime_error);
}

TEST_F(ResourceManagerTest, test_unitilizable_hardware_no_validation)
{
// If the the hardware can not be initialized and load_urdf didn't try to validate the interfaces,
// the interface should not show up
TestableResourceManager rm;
EXPECT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_unitilizable_robot_urdf, false));

// test actuator
EXPECT_FALSE(rm.state_interface_exists("joint1/position"));
EXPECT_FALSE(rm.state_interface_exists("joint1/velocity"));
EXPECT_FALSE(rm.command_interface_exists("joint1/position"));
EXPECT_FALSE(rm.command_interface_exists("joint1/max_velocity"));

// test sensor
EXPECT_FALSE(rm.state_interface_exists("sensor1/velocity"));

// test system
EXPECT_FALSE(rm.state_interface_exists("joint2/position"));
EXPECT_FALSE(rm.state_interface_exists("joint2/velocity"));
EXPECT_FALSE(rm.state_interface_exists("joint2/acceleration"));
EXPECT_FALSE(rm.command_interface_exists("joint2/velocity"));
EXPECT_FALSE(rm.command_interface_exists("joint2/max_acceleration"));
EXPECT_FALSE(rm.state_interface_exists("joint3/position"));
EXPECT_FALSE(rm.state_interface_exists("joint3/velocity"));
EXPECT_FALSE(rm.state_interface_exists("joint3/acceleration"));
EXPECT_FALSE(rm.command_interface_exists("joint3/velocity"));
EXPECT_FALSE(rm.command_interface_exists("joint3/max_acceleration"));
}

TEST_F(ResourceManagerTest, initialization_with_urdf_manual_validation)
{
// we validate the results manually
Expand Down
51 changes: 51 additions & 0 deletions ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
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Expand Up @@ -176,6 +176,55 @@ const auto hardware_resources =
</ros2_control>
)";

const auto unitilizable_hardware_resources =
R"(
<ros2_control name="TestUnitilizableActuatorHardware" type="actuator">
<hardware>
<plugin>test_unitilizable_actuator</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<command_interface name="max_velocity" />
</joint>
</ros2_control>
<ros2_control name="TestUnitilizableSensorHardware" type="sensor">
<hardware>
<plugin>test_unitilizable_sensor</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<sensor name="sensor1">
<state_interface name="velocity"/>
</sensor>
</ros2_control>
<ros2_control name="TestUnitilizableSystemHardware" type="system">
<hardware>
<plugin>test_unitilizable_system</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<command_interface name="max_acceleration" />
</joint>
<joint name="joint3">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
<joint name="configuration">
<command_interface name="max_tcp_jerk"/>
<state_interface name="max_tcp_jerk"/>
</joint>
</ros2_control>
)";

const auto hardware_resources_missing_state_keys =
R"(
<ros2_control name="TestActuatorHardware" type="actuator">
Expand Down Expand Up @@ -406,6 +455,8 @@ const auto diffbot_urdf =

const auto minimal_robot_urdf =
std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
const auto minimal_unitilizable_robot_urdf =
std::string(urdf_head) + std::string(unitilizable_hardware_resources) + std::string(urdf_tail);

const auto minimal_robot_missing_state_keys_urdf =
std::string(urdf_head) + std::string(hardware_resources_missing_state_keys) +
Expand Down
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