From 37b9d2a3999ea3867864ef8d042b7c55edb4cc4f Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 12 Jan 2024 11:32:56 +0000 Subject: [PATCH 1/2] [JTC] Remove deprecation from parameters validation file. (#476) (#926) --- joint_trajectory_controller/CMakeLists.txt | 2 ++ joint_trajectory_controller/package.xml | 4 +++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt index 60116f2b0a..76969bd582 100644 --- a/joint_trajectory_controller/CMakeLists.txt +++ b/joint_trajectory_controller/CMakeLists.txt @@ -16,6 +16,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp rclcpp_lifecycle realtime_tools + rsl + tl_expected trajectory_msgs ) diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index 809b8ca084..4800e69759 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -23,11 +23,13 @@ controller_interface control_msgs control_toolbox + generate_parameter_library hardware_interface rclcpp rclcpp_lifecycle + rsl + tl_expected trajectory_msgs - generate_parameter_library ament_cmake_gmock controller_manager From 42766febb806e041f7c1dec0f346c99dcc1f1b14 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Fri, 12 Jan 2024 11:35:20 +0000 Subject: [PATCH 2/2] Increase test coverage of interface configuration getters (#856) (#865) --- .../test_force_torque_sensor_broadcaster.cpp | 25 +++++++- .../test_force_torque_sensor_broadcaster.hpp | 2 +- .../test/test_forward_command_controller.cpp | 42 +++++++++++++ ...i_interface_forward_command_controller.cpp | 23 +++++++ .../test/test_gripper_controllers.cpp | 12 ++++ .../test/test_imu_sensor_broadcaster.cpp | 23 +++++++ .../test/test_joint_state_broadcaster.cpp | 62 ++++++++++++++++++- .../test/test_joint_state_broadcaster.hpp | 4 +- .../test/test_range_sensor_broadcaster.cpp | 27 +++++++- .../test/test_tricycle_controller.cpp | 15 +++++ 10 files changed, 228 insertions(+), 7 deletions(-) diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp index b88266712b..b98bc8c560 100644 --- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp +++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp @@ -32,6 +32,8 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using hardware_interface::LoanedStateInterface; +using testing::IsEmpty; +using testing::SizeIs; namespace { @@ -156,6 +158,12 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success) // configure passed ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + auto cmd_if_conf = fts_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = fts_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); } TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success) @@ -173,7 +181,7 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success) ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); } -TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Activate_Success) +TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success) { SetUpFTSBroadcaster(); @@ -184,6 +192,21 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Activate_Success) // configure and activate success ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + auto cmd_if_conf = fts_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = fts_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); + + // deactivate passed + ASSERT_EQ(fts_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + cmd_if_conf = fts_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + state_if_conf = fts_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); // did not change } TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success) diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp index 5477b3fa6f..fe5b0ab3ba 100644 --- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp +++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp @@ -36,7 +36,7 @@ class FriendForceTorqueSensorBroadcaster FRIEND_TEST(ForceTorqueSensorBroadcasterTest, SensorNameParameterIsEmpty); FRIEND_TEST(ForceTorqueSensorBroadcasterTest, InterfaceNameParameterIsEmpty); - FRIEND_TEST(ForceTorqueSensorBroadcasterTest, ActivateSuccess); + FRIEND_TEST(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success); FRIEND_TEST(ForceTorqueSensorBroadcasterTest, UpdateTest); FRIEND_TEST(ForceTorqueSensorBroadcasterTest, SensorStatePublishTest); }; diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp index 697e42d671..b464f1f8ba 100644 --- a/forward_command_controller/test/test_forward_command_controller.cpp +++ b/forward_command_controller/test/test_forward_command_controller.cpp @@ -34,6 +34,8 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using hardware_interface::LoanedCommandInterface; +using testing::IsEmpty; +using testing::SizeIs; namespace { @@ -128,6 +130,13 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess) ASSERT_EQ( controller_->on_configure(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = controller_->command_interface_configuration(); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu)); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); } TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails) @@ -173,9 +182,23 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess) ASSERT_EQ( controller_->on_configure(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = controller_->command_interface_configuration(); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + ASSERT_EQ( controller_->on_activate(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); } TEST_F(ForwardCommandControllerTest, CommandSuccessTest) @@ -323,9 +346,22 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) auto node_state = controller_->configure(); ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); + // check interface configuration + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + node_state = controller_->get_node()->activate(); ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); + // check interface configuration + cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); + state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + auto command_msg = std::make_shared(); command_msg->data = {10.0, 20.0, 30.0}; @@ -344,6 +380,12 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess) node_state = controller_->get_node()->deactivate(); ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); + // check interface configuration + cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); // did not change + state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + // command ptr should be reset (nullptr) after deactivation - same check as in `update` ASSERT_FALSE( controller_->rt_command_ptr_.readFromNonRT() && diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp index 0cada04859..b850c01a4d 100644 --- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp +++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp @@ -36,6 +36,8 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using hardware_interface::LoanedCommandInterface; +using testing::IsEmpty; +using testing::SizeIs; namespace { @@ -148,6 +150,13 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ConfigureParamsSuccess) ASSERT_EQ( controller_->on_configure(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(3lu)); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); } TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateWithWrongJointsNamesFails) @@ -282,6 +291,13 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes { SetUpController(true); + // check interface configuration + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(3lu)); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + // send command auto command_ptr = std::make_shared(); command_ptr->data = {10.0, 20.0, 30.0}; @@ -300,6 +316,13 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes auto node_state = controller_->get_node()->deactivate(); ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE); + // check interface configuration + cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(3lu)); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + // command ptr should be reset (nullptr) after deactivation - same check as in `update` ASSERT_FALSE( controller_->rt_command_ptr_.readFromNonRT() && diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp index 506f968b99..6963dfec93 100644 --- a/gripper_controllers/test/test_gripper_controllers.cpp +++ b/gripper_controllers/test/test_gripper_controllers.cpp @@ -31,6 +31,8 @@ using hardware_interface::LoanedCommandInterface; using hardware_interface::LoanedStateInterface; using GripperCommandAction = control_msgs::action::GripperCommand; using GoalHandle = rclcpp_action::ServerGoalHandle; +using testing::SizeIs; +using testing::UnorderedElementsAre; template void GripperControllerTest::SetUpTestCase() @@ -108,6 +110,16 @@ TYPED_TEST(GripperControllerTest, ConfigureParamsSuccess) ASSERT_EQ( this->controller_->on_configure(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = this->controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(1lu)); + ASSERT_THAT(cmd_if_conf.names, UnorderedElementsAre(std::string("joint_1/") + TypeParam::value)); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto state_if_conf = this->controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(2lu)); + ASSERT_THAT(state_if_conf.names, UnorderedElementsAre("joint_1/position", "joint_1/velocity")); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TYPED_TEST(GripperControllerTest, ActivateWithWrongJointsNamesFails) diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp index 8358088b1d..f336ece2ad 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp @@ -32,6 +32,8 @@ #include "sensor_msgs/msg/imu.hpp" using hardware_interface::LoanedStateInterface; +using testing::IsEmpty; +using testing::SizeIs; namespace { @@ -114,6 +116,12 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Configure_Success) // configure passed ASSERT_EQ(imu_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + auto cmd_if_conf = imu_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = imu_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); } TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) @@ -127,6 +135,21 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success) // configure and activate success ASSERT_EQ(imu_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(imu_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + auto cmd_if_conf = imu_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = imu_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); + + // deactivate passed + ASSERT_EQ(imu_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + cmd_if_conf = imu_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + state_if_conf = imu_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); // did not change } TEST_F(IMUSensorBroadcasterTest, SensorName_Update_Success) diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp index 98dac68924..cfe985b638 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp @@ -163,7 +163,7 @@ TEST_F(JointStateBroadcasterTest, ConfigureErrorTest) ASSERT_FALSE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); } -TEST_F(JointStateBroadcasterTest, ActivateTest) +TEST_F(JointStateBroadcasterTest, ActivateEmptyTest) { // publishers not initialized yet ASSERT_FALSE(state_broadcaster_->joint_state_publisher_); @@ -177,6 +177,12 @@ TEST_F(JointStateBroadcasterTest, ActivateTest) const size_t NUM_JOINTS = joint_names_.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); ASSERT_TRUE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); @@ -218,6 +224,12 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutJointsParameter) const size_t NUM_JOINTS = joint_names_.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); ASSERT_TRUE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); @@ -259,6 +271,12 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutInterfacesParameter) const size_t NUM_JOINTS = joint_names_.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, IsEmpty()); + // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); ASSERT_TRUE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); @@ -287,7 +305,7 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutInterfacesParameter) ElementsAreArray(interface_names_)); } -TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointsOneInterface) +TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface) { const std::vector JOINT_NAMES = {joint_names_[0], joint_names_[1]}; const std::vector IF_NAMES = {interface_names_[0]}; @@ -300,6 +318,12 @@ TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointsOneInterface) const size_t NUM_JOINTS = JOINT_NAMES.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); ASSERT_TRUE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); @@ -329,6 +353,16 @@ TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointsOneInterface) dynamic_joint_state_msg.interface_values[0].interface_names, ElementsAreArray(IF_NAMES)); ASSERT_THAT( dynamic_joint_state_msg.interface_values[1].interface_names, ElementsAreArray(IF_NAMES)); + + // deactivate + ASSERT_EQ(state_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check interface configuration + cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT( + state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); // does not change } TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces) @@ -344,6 +378,12 @@ TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces) const size_t NUM_JOINTS = JOINT_NAMES.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); ASSERT_TRUE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); @@ -412,6 +452,12 @@ TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointTwoInterfacesOneMissing) const size_t NUM_JOINTS = JOINT_NAMES.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + // publishers initialized ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_); ASSERT_TRUE(state_broadcaster_->realtime_dynamic_joint_state_publisher_); @@ -455,6 +501,12 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceWithoutMapping) const size_t NUM_JOINTS = JOINT_NAMES.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + // joint state initialized const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_; ASSERT_THAT(joint_state_msg.name, SizeIs(0)); @@ -492,6 +544,12 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceMapping) const size_t NUM_JOINTS = JOINT_NAMES.size(); + // check interface configuration + auto cmd_if_conf = state_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = state_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); + // joint state initialized const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_; ASSERT_THAT(joint_state_msg.name, ElementsAreArray(JOINT_NAMES)); diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp index fcaa40e8d5..fa9d29c936 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp @@ -33,10 +33,10 @@ using hardware_interface::HW_IF_VELOCITY; class FriendJointStateBroadcaster : public joint_state_broadcaster::JointStateBroadcaster { FRIEND_TEST(JointStateBroadcasterTest, ConfigureErrorTest); - FRIEND_TEST(JointStateBroadcasterTest, ActivateTest); + FRIEND_TEST(JointStateBroadcasterTest, ActivateEmptyTest); FRIEND_TEST(JointStateBroadcasterTest, ActivateTestWithoutJointsParameter); FRIEND_TEST(JointStateBroadcasterTest, ActivateTestWithoutInterfacesParameter); - FRIEND_TEST(JointStateBroadcasterTest, ActivateTestTwoJointsOneInterface); + FRIEND_TEST(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface); FRIEND_TEST(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces); FRIEND_TEST(JointStateBroadcasterTest, ActivateTestTwoJointTwoInterfacesAllMissing); FRIEND_TEST(JointStateBroadcasterTest, ActivateTestTwoJointTwoInterfacesOneMissing); diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp index 02d7de814e..7b06c321fe 100644 --- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp +++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp @@ -22,6 +22,9 @@ #include "hardware_interface/loaned_state_interface.hpp" +using testing::IsEmpty; +using testing::SizeIs; + void RangeSensorBroadcasterTest::SetUp() { // initialize controller @@ -130,9 +133,15 @@ TEST_F(RangeSensorBroadcasterTest, Configure_RangeBroadcaster_Success) ASSERT_EQ( range_broadcaster_->on_configure(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = range_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = range_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); } -TEST_F(RangeSensorBroadcasterTest, Activate_RangeBroadcaster_Success) +TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success) { init_broadcaster("test_range_sensor_broadcaster"); @@ -141,6 +150,22 @@ TEST_F(RangeSensorBroadcasterTest, Activate_RangeBroadcaster_Success) ASSERT_EQ( range_broadcaster_->on_activate(rclcpp_lifecycle::State()), controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = range_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + auto state_if_conf = range_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); + + ASSERT_EQ( + range_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), + controller_interface::CallbackReturn::SUCCESS); + + // check interface configuration + cmd_if_conf = range_broadcaster_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, IsEmpty()); + state_if_conf = range_broadcaster_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); // did not change } TEST_F(RangeSensorBroadcasterTest, Update_RangeBroadcaster_Success) diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp index 1d6edf261a..2355425f10 100644 --- a/tricycle_controller/test/test_tricycle_controller.cpp +++ b/tricycle_controller/test/test_tricycle_controller.cpp @@ -39,6 +39,7 @@ using hardware_interface::LoanedCommandInterface; using hardware_interface::LoanedStateInterface; using lifecycle_msgs::msg::State; using testing::SizeIs; +using testing::UnorderedElementsAre; class TestableTricycleController : public tricycle_controller::TricycleController { @@ -207,6 +208,20 @@ TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified) rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name))); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS); + + // check interface configuration + auto cmd_if_conf = controller_->command_interface_configuration(); + ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu)); + ASSERT_THAT( + cmd_if_conf.names, + UnorderedElementsAre(traction_joint_name + "/velocity", steering_joint_name + "/position")); + EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); + auto state_if_conf = controller_->state_interface_configuration(); + ASSERT_THAT(state_if_conf.names, SizeIs(2lu)); + ASSERT_THAT( + state_if_conf.names, + UnorderedElementsAre(traction_joint_name + "/velocity", steering_joint_name + "/position")); + EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL); } TEST_F(TestTricycleController, activate_fails_without_resources_assigned)