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Increase test coverage (backport #856) #865

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Jan 12, 2024
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Increase test coverage (backport #856) #865

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25 changes: 24 additions & 1 deletion force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

using hardware_interface::LoanedStateInterface;
using testing::IsEmpty;
using testing::SizeIs;

namespace
{
Expand Down Expand Up @@ -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)
Expand All @@ -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();

Expand All @@ -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)
Expand Down
2 changes: 1 addition & 1 deletion force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp
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Expand Up @@ -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);
};
Expand Down
42 changes: 42 additions & 0 deletions forward_command_controller/test/test_forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

using hardware_interface::LoanedCommandInterface;
using testing::IsEmpty;
using testing::SizeIs;

namespace
{
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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<std_msgs::msg::Float64MultiArray>();
command_msg->data = {10.0, 20.0, 30.0};

Expand All @@ -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() &&
Expand Down
23 changes: 23 additions & 0 deletions forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

using hardware_interface::LoanedCommandInterface;
using testing::IsEmpty;
using testing::SizeIs;

namespace
{
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0, 30.0};
Expand All @@ -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() &&
Expand Down
12 changes: 12 additions & 0 deletions gripper_controllers/test/test_gripper_controllers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ using hardware_interface::LoanedCommandInterface;
using hardware_interface::LoanedStateInterface;
using GripperCommandAction = control_msgs::action::GripperCommand;
using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
using testing::SizeIs;
using testing::UnorderedElementsAre;

template <typename T>
void GripperControllerTest<T>::SetUpTestCase()
Expand Down Expand Up @@ -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)
Expand Down
23 changes: 23 additions & 0 deletions imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@
#include "sensor_msgs/msg/imu.hpp"

using hardware_interface::LoanedStateInterface;
using testing::IsEmpty;
using testing::SizeIs;

namespace
{
Expand Down Expand Up @@ -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)
Expand All @@ -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)
Expand Down
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