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fix regression in controller manager services #169

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Merged
bmagyar merged 1 commit into from
Sep 30, 2020
Merged

fix regression in controller manager services #169

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5 changes: 3 additions & 2 deletions controller_manager/include/controller_manager/controller_loader_pluginlib.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,11 @@ class ControllerLoaderPluginlib : public ControllerLoaderInterface
virtual ~ControllerLoaderPluginlib() = default;

CONTROLLER_MANAGER_PUBLIC
controller_interface::ControllerInterfaceSharedPtr create(const std::string & controller_type);
controller_interface::ControllerInterfaceSharedPtr create(const std::string & controller_type)
override;

CONTROLLER_MANAGER_PUBLIC
bool is_available(const std::string & controller_type) const;
bool is_available(const std::string & controller_type) const override;

CONTROLLER_MANAGER_PUBLIC
std::vector<std::string> get_declared_classes() const override;
Expand Down
8 changes: 5 additions & 3 deletions controller_manager/test/controller_manager_test_common.hpp
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Expand Up @@ -71,13 +71,15 @@ class ControllerLoaderMock : public controller_manager::ControllerLoaderInterfac
ControllerLoaderMock()
: controller_manager::ControllerLoaderInterface("controller_interface::MockControllerInterface")
{}
MOCK_METHOD1(create, controller_interface::ControllerInterfaceSharedPtr(const std::string &));
MOCK_CONST_METHOD1(is_available, bool(const std::string &));
MOCK_METHOD(
controller_interface::ControllerInterfaceSharedPtr, create, (const std::string &),
(override));
MOCK_METHOD(bool, is_available, (const std::string &), (const, override));
std::vector<std::string> get_declared_classes() const override
{
return {MOCK_TEST_CONTROLLER_NAME};
}
MOCK_METHOD0(reload, void());
MOCK_METHOD(void, reload, (), (override));
};

#endif // CONTROLLER_MANAGER_TEST_COMMON_HPP_
8 changes: 0 additions & 8 deletions controller_manager/test/test_controller_manager_srvs.cpp
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Expand Up @@ -32,7 +32,6 @@ using ::testing::Return;

using namespace std::chrono_literals;


class TestControllerManagerSrvs : public TestControllerManager
{
public:
Expand Down Expand Up @@ -137,7 +136,6 @@ TEST_F(TestControllerManagerSrvs, list_controller_types)
::testing::Contains("controller_interface::MockControllerInterface"));
}


TEST_F(TestControllerManagerSrvs, list_controllers_srv) {
rclcpp::executors::SingleThreadedExecutor srv_executor;
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
Expand Down Expand Up @@ -176,7 +174,6 @@ TEST_F(TestControllerManagerSrvs, list_controllers_srv) {
result->controller.size());
ASSERT_EQ("active", result->controller[0].state);


cm_->switch_controller(
{}, {test_controller::TEST_CONTROLLER_NAME},
controller_manager_msgs::srv::SwitchController::Request::STRICT, true,
Expand Down Expand Up @@ -207,7 +204,6 @@ TEST_F(TestControllerManagerSrvs, reload_controller_libraries_srv) {
auto request =
std::make_shared<controller_manager_msgs::srv::ReloadControllerLibraries::Request>();


std::shared_ptr<ControllerLoaderMock> mock_loader(new ControllerLoaderMock);

cm_->register_controller_loader(mock_loader);
Expand All @@ -219,7 +215,6 @@ TEST_F(TestControllerManagerSrvs, reload_controller_libraries_srv) {
auto result = call_service_and_wait(*client, request, srv_executor);
ASSERT_TRUE(result->ok);


// Add a controller, but stopped
auto test_controller = cm_->load_controller(
test_controller::TEST_CONTROLLER_NAME,
Expand Down Expand Up @@ -257,7 +252,6 @@ TEST_F(TestControllerManagerSrvs, reload_controller_libraries_srv) {
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
test_controller->get_lifecycle_node()->get_current_state().id());


// Failed reload due to active controller
request->force_kill = false;
EXPECT_CALL(*mock_loader, reload).Times(0);
Expand All @@ -278,7 +272,6 @@ TEST_F(TestControllerManagerSrvs, reload_controller_libraries_srv) {
result = call_service_and_wait(*client, request, srv_executor, true);
ASSERT_TRUE(result->ok);


ASSERT_EQ(
test_controller.use_count(),
1) << "No more references to the controller after reloading.";
Expand Down Expand Up @@ -320,7 +313,6 @@ TEST_F(TestControllerManagerSrvs, unload_controller_srv) {
auto result = call_service_and_wait(*client, request, srv_executor);
ASSERT_FALSE(result->ok) << "Controller not loaded: " << request->name;


auto test_controller = std::make_shared<test_controller::TestController>();
auto abstract_test_controller = cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
Expand Down