Skip to content

Add BEST_EFFORT in the controller switch tests. #582

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
bmagyar merged 10 commits into from
Feb 4, 2022
Merged

Add BEST_EFFORT in the controller switch tests. #582

Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
12d4dda
Add BEST_EFFORT in the controller switch tests.
Xi-HHHM Nov 25, 2021
75f3c0a
Write the tests in seperate test functions.
Xi-HHHM Nov 25, 2021
a385c7e
Use parameterized test for STRICT and BEST_EFFORT.
Xi-HHHM Dec 2, 2021
08dc71a
Add multiple controllers.
Xi-HHHM Dec 9, 2021
7639234
Remove cache and setting files.
Xi-HHHM Dec 9, 2021
0215499
Merge branch 'ros-controls:master' into test_controller_manager
Xi-HHHM Jan 26, 2022
01ed035
Fix the bug in the test. All tests are passed.
Xi-HHHM Feb 3, 2022
1ad395d
Apply suggestions from code review
Xi-HHHM Feb 3, 2022
e8e356a
Update controller_manager/test/test_controller_manager.cpp
Xi-HHHM Feb 3, 2022
b045efb
Fix the a bug to make the review suggestion work.
Xi-HHHM Feb 4, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
58 changes: 50 additions & 8 deletions controller_manager/test/test_controller_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <gtest/gtest.h>
#include <memory>
#include <string>
#include <utility>
#include <vector>

#include "./test_controller/test_controller.hpp"
Expand All @@ -26,17 +27,29 @@
using ::testing::_;
using ::testing::Return;

class TestControllerManager : public ControllerManagerFixture
struct Strictness
{
int strictness = STRICT;
controller_interface::return_type expected_return;
unsigned int expected_counter;
};
class TestControllerManager : public ControllerManagerFixture,
public testing::WithParamInterface<Strictness>
{
};

TEST_F(TestControllerManager, controller_lifecycle)
TEST_P(TestControllerManager, controller_lifecycle)
{
const auto test_param = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
auto test_controller2 = std::make_shared<test_controller::TestController>();
constexpr char TEST_CONTROLLER2_NAME[] = "test_controller2_name";
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
cm_->add_controller(
test_controller2, TEST_CONTROLLER2_NAME, test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(2u, cm_->get_loaded_controllers().size());
EXPECT_EQ(2, test_controller.use_count());

EXPECT_EQ(
Expand All @@ -50,19 +63,42 @@ TEST_F(TestControllerManager, controller_lifecycle)

// configure controller
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
cm_->configure_controller(TEST_CONTROLLER2_NAME);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is not started";

EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller->get_state().id());

// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {test_controller::TEST_CONTROLLER_NAME};
std::vector<std::string> start_controllers = {"fake_controller", TEST_CONTROLLER2_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, STRICT, true, rclcpp::Duration(0, 0));
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(test_param.expected_return, switch_future.get());
}

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller2->internal_counter, test_param.expected_counter);

// Start the real test controller, will take effect at the end of the update function
start_controllers = {test_controller::TEST_CONTROLLER_NAME};
stop_controllers = {};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));

ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
Expand All @@ -88,7 +124,7 @@ TEST_F(TestControllerManager, controller_lifecycle)
stop_controllers = {test_controller::TEST_CONTROLLER_NAME};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, STRICT, true, rclcpp::Duration(0, 0));
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));

ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
Expand Down Expand Up @@ -118,8 +154,9 @@ TEST_F(TestControllerManager, controller_lifecycle)
EXPECT_EQ(1, test_controller.use_count());
}

TEST_F(TestControllerManager, per_controller_update_rate)
TEST_P(TestControllerManager, per_controller_update_rate)
{
auto strictness = GetParam().strictness;
auto test_controller = std::make_shared<test_controller::TestController>();
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
Expand Down Expand Up @@ -151,7 +188,7 @@ TEST_F(TestControllerManager, per_controller_update_rate)
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, STRICT, true, rclcpp::Duration(0, 0));
start_controllers, stop_controllers, strictness, true, rclcpp::Duration(0, 0));

ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
Expand All @@ -173,3 +210,8 @@ TEST_F(TestControllerManager, per_controller_update_rate)
EXPECT_GE(test_controller->internal_counter, 1u);
EXPECT_EQ(test_controller->get_update_rate(), 4u);
}

Strictness strict{STRICT, controller_interface::return_type::ERROR, 0u};
Strictness best_effort{BEST_EFFORT, controller_interface::return_type::OK, 1u};
INSTANTIATE_TEST_SUITE_P(
test_strict_best_effort, TestControllerManager, testing::Values(strict, best_effort));