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Split controller switch test #2177

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18884b1
extract single_controller_lifecycle test from controller_lifecycle test
ashwinsnambiar Apr 11, 2025
0deb02b
refactor lifecycle_test to switch_controller_with_unknown_controller …
ashwinsnambiar Apr 11, 2025
1d0e078
Merge branch 'master' into split_controller_switch_test
saikishor Apr 18, 2025
d86cced
delete unused test_controller
ashwinsnambiar Apr 20, 2025
97be2e9
correct failing colcon test - single_controller_lifecycle
ashwinsnambiar Apr 21, 2025
4199dc2
add test for activating multiple controllers with resource collision
ashwinsnambiar Apr 27, 2025
521b0f0
Merge branch 'master' into split_controller_switch_test
ashwinsnambiar Apr 28, 2025
1a71c97
rectify typo
ashwinsnambiar May 24, 2025
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224 changes: 157 additions & 67 deletions controller_manager/test/test_controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,162 @@ TEST_F(TestControllerManagerRobotDescription, controller_robot_description_updat
test_controller2->get_robot_description());
}

TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
TEST_P(TestControllerManagerWithStrictness, single_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>();

// Check for the hardware component and no controllers
controller_manager_msgs::msg::ControllerManagerActivity cm_msg;
const std::string cm_activity_topic =
std::string("/") + std::string(TEST_CM_NAME) + std::string("/activity");
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 0u);

cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);

EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
EXPECT_EQ(1, test_controller.use_count());

get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);

// setup interface to claim from controllers
controller_interface::InterfaceConfiguration cmd_itfs_cfg;
cmd_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg.names.push_back(interface);
}
test_controller->set_command_interface_configuration(cmd_itfs_cfg);

controller_interface::InterfaceConfiguration state_itfs_cfg;
state_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
for (const auto & interface : ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
test_controller->set_state_interface_configuration(state_itfs_cfg);

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";

EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());

// configure controller
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
}
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";

EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_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> stop_controllers = {};
auto 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";

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());

get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller->internal_counter, 1u);
size_t last_internal_counter = test_controller->internal_counter;

// Stop controller, will take effect at the end of the update function
start_controllers = {};
stop_controllers = {test_controller::TEST_CONTROLLER_NAME};
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";

get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter + 1u, test_controller->internal_counter)
<< "Controller is stopped at the end of update, so it should have done one more update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}

EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
auto unload_future = std::async(
std::launch::async, &controller_manager::ControllerManager::unload_controller, cm_,
test_controller::TEST_CONTROLLER_NAME);

ASSERT_EQ(std::future_status::timeout, unload_future.wait_for(std::chrono::milliseconds(100)))
<< "unload_controller should be blocking until next update cycle";
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, unload_future.get());

EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
test_controller->get_lifecycle_state().id());

}

TEST_P(TestControllerManagerWithStrictness, switch_controller_with_unknown_controller)
{
const auto test_param = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
Expand Down Expand Up @@ -198,6 +353,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 2u);
// TODO: Confirm whether first controller is TEST_CONTROLLER2_NAME or test_controller?? Inconsistent from the order of insertion.
ASSERT_EQ(cm_msg.controllers[0].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(cm_msg.controllers[1].name, test_controller::TEST_CONTROLLER_NAME);
Expand Down Expand Up @@ -244,72 +400,6 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
cm_->update(time_, 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";

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());

get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 2u);
ASSERT_EQ(cm_msg.controllers[0].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, expected_ctrl2_state);
ASSERT_EQ(cm_msg.controllers[1].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[1].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller->internal_counter, 1u);
size_t last_internal_counter = test_controller->internal_counter;

// Stop controller, will take effect at the end of the update function
start_controllers = {};
stop_controllers = {test_controller::TEST_CONTROLLER_NAME};
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";

get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 2u);
ASSERT_EQ(cm_msg.controllers[0].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, expected_ctrl2_state);
ASSERT_EQ(cm_msg.controllers[1].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[1].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);

EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter + 1u, test_controller->internal_counter)
<< "Controller is stopped at the end of update, so it should have done one more update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}

EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
auto unload_future = std::async(
std::launch::async, &controller_manager::ControllerManager::unload_controller, cm_,
test_controller::TEST_CONTROLLER_NAME);
Expand Down
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