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| // Copyright 2021 PAL Robotics S.L. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include <gtest/gtest.h> | ||
|
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||
| #include <cstdlib> | ||
| #include <memory> | ||
| #include <string> | ||
| #include <vector> | ||
|
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| #include "controller_manager/controller_manager.hpp" | ||
| #include "controller_manager_test_common.hpp" | ||
| #include "lifecycle_msgs/msg/state.hpp" | ||
| #include "test_chainable_controller/test_chainable_controller.hpp" | ||
| #include "test_controller/test_controller.hpp" | ||
|
|
||
| using ::testing::_; | ||
| using ::testing::Return; | ||
|
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| using namespace std::chrono_literals; | ||
| class TestHardwareSpawner : public ControllerManagerFixture<controller_manager::ControllerManager> | ||
| { | ||
| public: | ||
| TestHardwareSpawner() | ||
| : ControllerManagerFixture<controller_manager::ControllerManager>() | ||
| { | ||
| cm_->set_parameter(rclcpp::Parameter("hardware_components_initial_state.unconfigured", "TestSystemHardware")); | ||
| } | ||
|
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||
| void SetUp() override | ||
| { | ||
| ControllerManagerFixture::SetUp(); | ||
|
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| update_executor_ = | ||
| std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::ExecutorOptions(), 2); | ||
|
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| update_executor_->add_node(cm_); | ||
| update_executor_spin_future_ = | ||
| std::async(std::launch::async, [this]() -> void { update_executor_->spin(); }); | ||
| // This sleep is needed to prevent a too fast test from ending before the | ||
| // executor has began to spin, which causes it to hang | ||
| std::this_thread::sleep_for(50ms); | ||
| } | ||
|
|
||
| void TearDown() override { update_executor_->cancel(); } | ||
|
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| protected: | ||
| // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks | ||
| std::shared_ptr<rclcpp::Executor> update_executor_; | ||
| std::future<void> update_executor_spin_future_; | ||
| }; | ||
|
|
||
| int call_spawner(const std::string extra_args) | ||
| { | ||
| std::string spawner_script = "ros2 run controller_manager hardware_spawner "; | ||
| return std::system((spawner_script + extra_args).c_str()); | ||
| } | ||
|
|
||
| TEST_F(TestHardwareSpawner, spawner_with_no_arguments_errors) | ||
| { | ||
| EXPECT_NE(call_spawner(""), 0) << "Missing mandatory arguments"; | ||
| } | ||
|
|
||
| TEST_F(TestHardwareSpawner, spawner_without_manager_errors_with_given_timeout) | ||
| { | ||
| EXPECT_NE(call_spawner("TestSystemHardware --controller-manager-timeout 1.0"), 0) | ||
| << "Wrong controller manager name"; | ||
| } | ||
|
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| TEST_F(TestHardwareSpawner, spawner_without_component_name_argument) | ||
| { | ||
| EXPECT_NE(call_spawner("-c test_controller_manager"), 0) << | ||
| "Missing component name argument parameter"; | ||
| } | ||
|
|
||
| TEST_F(TestHardwareSpawner, spawner_non_exising_hardware_component) | ||
| { | ||
| EXPECT_NE(call_spawner("TestSystemHardware1 -c test_controller_manager"), 0) << | ||
| "Missing component name argument parameter"; | ||
| } | ||
|
|
||
| TEST_F(TestHardwareSpawner, set_component_to_configured_state_and_back_to_activated) | ||
| { | ||
| EXPECT_EQ(call_spawner("TestSystemHardware --configure -c test_controller_manager"), 0); | ||
|
|
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| EXPECT_EQ(call_spawner("TestSystemHardware --activate -c test_controller_manager"), 0); | ||
| } | ||
|
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|
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| class TestHardwareSpawnerWithoutRobotDescription | ||
| : public ControllerManagerFixture<controller_manager::ControllerManager> | ||
| { | ||
| public: | ||
| TestHardwareSpawnerWithoutRobotDescription() | ||
| : ControllerManagerFixture<controller_manager::ControllerManager>("") | ||
| { | ||
| cm_->set_parameter(rclcpp::Parameter("hardware_components_initial_state.unconfigured", "TestSystemHardware")); | ||
| } | ||
|
|
||
| public: | ||
| void SetUp() override | ||
| { | ||
| ControllerManagerFixture::SetUp(); | ||
|
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| update_timer_ = cm_->create_wall_timer( | ||
| std::chrono::milliseconds(10), | ||
| [&]() | ||
| { | ||
| cm_->read(time_, PERIOD); | ||
| cm_->update(time_, PERIOD); | ||
| cm_->write(time_, PERIOD); | ||
| }); | ||
|
|
||
| update_executor_ = | ||
| std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::ExecutorOptions(), 2); | ||
|
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||
| update_executor_->add_node(cm_); | ||
| update_executor_spin_future_ = | ||
| std::async(std::launch::async, [this]() -> void { update_executor_->spin(); }); | ||
| // This sleep is needed to prevent a too fast test from ending before the | ||
| // executor has began to spin, which causes it to hang | ||
| std::this_thread::sleep_for(50ms); | ||
| } | ||
|
|
||
| void TearDown() override { update_executor_->cancel(); } | ||
|
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| rclcpp::TimerBase::SharedPtr robot_description_sending_timer_; | ||
|
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| protected: | ||
| rclcpp::TimerBase::SharedPtr update_timer_; | ||
|
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| // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks | ||
| std::shared_ptr<rclcpp::Executor> update_executor_; | ||
| std::future<void> update_executor_spin_future_; | ||
| }; | ||
|
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| TEST_F(TestHardwareSpawnerWithoutRobotDescription, when_no_robot_description_spawner_times_out) | ||
| { | ||
| EXPECT_EQ(call_spawner("TestSystemHardware --configure -c test_controller_manager --controller-manager-timeout 1.0"), 256) | ||
| << "could not change hardware state because not robot description and not services for controller " | ||
| "manager are active"; | ||
| } | ||
|
|
||
| TEST_F( | ||
| TestHardwareSpawnerWithoutRobotDescription, | ||
| spawner_with_later_load_of_robot_description) | ||
| { | ||
| // Delay sending robot description | ||
| robot_description_sending_timer_ = cm_->create_wall_timer( | ||
| std::chrono::milliseconds(2500), [&]() { pass_robot_description_to_cm_and_rm(); }); | ||
|
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| EXPECT_EQ(call_spawner("TestSystemHardware --configure -c test_controller_manager"), 1) | ||
| << "could not activate control because not robot description"; | ||
| } | ||
|
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| class TestHardwareSpawnerWithNamespacedCM | ||
| : public ControllerManagerFixture<controller_manager::ControllerManager> | ||
| { | ||
| public: | ||
| TestHardwareSpawnerWithNamespacedCM() | ||
| : ControllerManagerFixture<controller_manager::ControllerManager>( | ||
| ros2_control_test_assets::minimal_robot_urdf, "foo_namespace") | ||
| { | ||
| cm_->set_parameter(rclcpp::Parameter("hardware_components_initial_state.unconfigured", "TestSystemHardware")); | ||
| } | ||
|
|
||
| public: | ||
| void SetUp() override | ||
| { | ||
| ControllerManagerFixture::SetUp(); | ||
|
|
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| update_executor_ = | ||
| std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::ExecutorOptions(), 2); | ||
|
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||
| update_executor_->add_node(cm_); | ||
| update_executor_spin_future_ = | ||
| std::async(std::launch::async, [this]() -> void { update_executor_->spin(); }); | ||
| // This sleep is needed to prevent a too fast test from ending before the | ||
| // executor has began to spin, which causes it to hang | ||
| std::this_thread::sleep_for(50ms); | ||
| } | ||
|
|
||
| void TearDown() override { update_executor_->cancel(); } | ||
|
|
||
| protected: | ||
| // Using a MultiThreadedExecutor so we can call update on a separate thread from service callbacks | ||
| std::shared_ptr<rclcpp::Executor> update_executor_; | ||
| std::future<void> update_executor_spin_future_; | ||
| }; | ||
|
|
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| TEST_F(TestHardwareSpawnerWithNamespacedCM, set_component_to_configured_state_cm_namespace) | ||
| { | ||
| ControllerManagerRunner cm_runner(this); | ||
| EXPECT_EQ( | ||
| call_spawner("TestSystemHardware --configure -c test_controller_manager --controller-manager-timeout 1.0"), 256) | ||
| << "Should fail without defining the namespace"; | ||
| EXPECT_EQ( | ||
| call_spawner("TestSystemHardware --configure -c test_controller_manager --ros-args -r __ns:=/foo_namespace"), 0); | ||
| } |