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SantoshGovindarajSantoshGovindaraj
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Add test coverage for params_file parameter in spawner/unspawner tests (ros-controls#1754)
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‎controller_manager/test/test_spawner_unspawner.cpp‎

Lines changed: 34 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -277,6 +277,8 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
277277
ASSERT_EQ(
278278
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
279279
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
280+
ASSERT_EQ(
281+
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
280282

281283
auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
282284
ASSERT_EQ(
@@ -287,6 +289,9 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
287289
ASSERT_EQ(
288290
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
289291
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
292+
ASSERT_EQ(
293+
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
294+
test_file_path);
290295

291296
EXPECT_EQ(
292297
call_spawner(
@@ -302,12 +307,17 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
302307
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
303308
ASSERT_EQ(
304309
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
310+
ASSERT_EQ(
311+
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
305312

306313
auto ctrl_2 = cm_->get_loaded_controllers()[1];
307314
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
308315
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
309316
ASSERT_EQ(
310317
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
318+
ASSERT_EQ(
319+
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
320+
test_file_path);
311321
}
312322

313323
TEST_F(TestLoadController, unload_on_kill)
@@ -367,6 +377,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
367377
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
368378
ASSERT_EQ(
369379
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
380+
ASSERT_EQ(cm_->get_parameter("ctrl_1.params_file").as_string(), test_file_path);
370381
}
371382

372383
// Try to spawn now the controller with fallback controllers inside the yaml
@@ -381,6 +392,7 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
381392
ASSERT_TRUE(ctrl_1.info.fallback_controllers_names.empty());
382393
ASSERT_EQ(
383394
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
395+
ASSERT_EQ(cm_->get_parameter("ctrl_1.params_file").as_string(), test_file_path);
384396

385397
auto ctrl_2 = cm_->get_loaded_controllers()[1];
386398
ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
@@ -389,13 +401,15 @@ TEST_F(TestLoadController, spawner_test_fallback_controllers)
389401
ctrl_2.info.fallback_controllers_names, testing::ElementsAre("ctrl_6", "ctrl_7", "ctrl_8"));
390402
ASSERT_EQ(
391403
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
404+
ASSERT_EQ(cm_->get_parameter("ctrl_2.params_file").as_string(), test_file_path);
392405

393406
auto ctrl_3 = cm_->get_loaded_controllers()[2];
394407
ASSERT_EQ(ctrl_3.info.name, "ctrl_3");
395408
ASSERT_EQ(ctrl_3.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
396409
ASSERT_THAT(ctrl_3.info.fallback_controllers_names, testing::ElementsAre("ctrl_9"));
397410
ASSERT_EQ(
398411
ctrl_3.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
412+
ASSERT_EQ(cm_->get_parameter("ctrl_3.params_file").as_string(), test_file_path);
399413
}
400414
}
401415

@@ -680,6 +694,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
680694
ASSERT_EQ(
681695
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
682696
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
697+
ASSERT_EQ(
698+
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
683699

684700
auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
685701
ASSERT_EQ(
@@ -690,6 +706,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
690706
ASSERT_EQ(
691707
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
692708
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
709+
ASSERT_EQ(
710+
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
711+
test_file_path);
693712

694713
EXPECT_EQ(
695714
call_spawner(
@@ -705,12 +724,17 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
705724
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
706725
ASSERT_EQ(
707726
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
727+
ASSERT_EQ(
728+
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
708729

709730
auto ctrl_2 = cm_->get_loaded_controllers()[1];
710731
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
711732
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
712733
ASSERT_EQ(
713734
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
735+
ASSERT_EQ(
736+
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
737+
test_file_path);
714738
}
715739

716740
TEST_F(
@@ -758,6 +782,8 @@ TEST_F(
758782
ASSERT_EQ(
759783
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
760784
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
785+
ASSERT_EQ(
786+
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
761787

762788
auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
763789
ASSERT_EQ(
@@ -768,6 +794,9 @@ TEST_F(
768794
ASSERT_EQ(
769795
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
770796
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
797+
ASSERT_EQ(
798+
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
799+
test_file_path);
771800

772801
EXPECT_EQ(
773802
call_spawner(
@@ -783,10 +812,15 @@ TEST_F(
783812
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
784813
ASSERT_EQ(
785814
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
815+
ASSERT_EQ(
816+
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
786817

787818
auto ctrl_2 = cm_->get_loaded_controllers()[1];
788819
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
789820
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
790821
ASSERT_EQ(
791822
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
823+
ASSERT_EQ(
824+
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
825+
test_file_path);
792826
}

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