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Update controller tests to use configure/activate instead of on_configure/on_activate #1682

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Update controller tests to use configure/activate instead of on_configure/on_activate #1682

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2b89b4d
update tests to use smart pointers for gps broadcaster and gpio contr…
jsantoso91 Apr 25, 2025
af368fc
remove extra line
jsantoso91 Apr 25, 2025
5ab8b2e
Merge branch 'master' into testfix/gpsbroadcast_and_gpio_controller
christophfroehlich Apr 26, 2025
0f01d2c
update tests to use configure/activate instead of on_configure/on_act…
jsantoso91 May 14, 2025
49cf7bf
revert unexpected changes in test case names
jsantoso91 May 14, 2025
083cd71
revert unexpected changes in test case names
jsantoso91 May 14, 2025
9c00354
Merge branch 'master' into testfix/call_activate_and_configure_on_con…
jsantoso91 May 14, 2025
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146 changes: 85 additions & 61 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -198,6 +198,27 @@ class TestDiffDriveController : public ::testing::Test
return controller_->init(controller_name, urdf_, 0, ns, node_options);
}

void expect_configure_succeeded(
std::unique_ptr<TestableDiffDriveController> & controller, bool succeeded)
{
auto state = controller->configure();

if (succeeded)
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
else
ASSERT_EQ(State::PRIMARY_STATE_UNCONFIGURED, state.id());
}

void expect_activate_succeeded(
std::unique_ptr<TestableDiffDriveController> & controller, bool succeeded)
{
auto state = controller->get_node()->activate();
if (succeeded)
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
else
ASSERT_EQ(State::PRIMARY_STATE_UNCONFIGURED, state.id());
}

std::string controller_name;
std::unique_ptr<TestableDiffDriveController> controller_;

Expand Down Expand Up @@ -243,7 +264,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size
InitController(left_wheel_names, {right_wheel_names[0], "extra_wheel"}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
expect_configure_succeeded(controller_, false);
}

TEST_F(
Expand All @@ -252,7 +273,7 @@ TEST_F(
{
ASSERT_EQ(InitController(), controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size()));
Expand All @@ -277,7 +298,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names
rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
Expand All @@ -302,7 +323,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp
rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
Expand All @@ -329,7 +350,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_names
rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
Expand Down Expand Up @@ -358,7 +379,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name
test_namespace),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
Expand Down Expand Up @@ -386,7 +407,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
test_namespace),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
Expand Down Expand Up @@ -415,7 +436,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
test_namespace),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
Expand All @@ -431,18 +452,21 @@ TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
{
ASSERT_EQ(InitController(), controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
expect_configure_succeeded(controller_, true);

expect_activate_succeeded(controller_, false);
}

TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
{
ASSERT_EQ(InitController(), controller_interface::return_type::OK);

// We implicitly test that by default position feedback is required
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

expect_activate_succeeded(controller_, true);
}

TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
Expand All @@ -453,9 +477,11 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
{rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(false))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

assignResourcesVelFeedback();
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

expect_activate_succeeded(controller_, true);
}

TEST_F(TestDiffDriveController, test_speed_limiter)
Expand Down Expand Up @@ -487,12 +513,12 @@ TEST_F(TestDiffDriveController, test_speed_limiter)

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(controller_->get_node()->get_node_base_interface());
auto state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());

expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand Down Expand Up @@ -672,9 +698,11 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
{rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(false))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);

expect_activate_succeeded(controller_, false);
}

TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
Expand All @@ -685,9 +713,11 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
{rclcpp::Parameter("position_feedback", rclcpp::ParameterValue(true))}),
controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

assignResourcesVelFeedback();
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);

expect_activate_succeeded(controller_, false);
}

TEST_F(TestDiffDriveController, cleanup)
Expand All @@ -700,12 +730,12 @@ TEST_F(TestDiffDriveController, cleanup)

rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(controller_->get_node()->get_node_base_interface());
auto state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());

expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand All @@ -723,7 +753,7 @@ TEST_F(TestDiffDriveController, cleanup)
EXPECT_LT(0.0, left_wheel_vel_cmd_.get_optional().value());
EXPECT_LT(0.0, right_wheel_vel_cmd_.get_optional().value());

state = controller_->get_node()->deactivate();
auto state = controller_->get_node()->deactivate();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());

// should be stopped
Expand Down Expand Up @@ -753,15 +783,14 @@ TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(controller_->get_node()->get_node_base_interface());

auto state = controller_->configure();
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
EXPECT_EQ(0.01, left_wheel_vel_cmd_.get_optional().value());
EXPECT_EQ(0.02, right_wheel_vel_cmd_.get_optional().value());

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

// send msg
const double linear = 1.0;
Expand All @@ -779,7 +808,7 @@ TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
// deactivated
// wait so controller process the second point when deactivated
std::this_thread::sleep_for(std::chrono::milliseconds(500));
state = controller_->get_node()->deactivate();
auto state = controller_->get_node()->deactivate();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
Expand All @@ -795,8 +824,8 @@ TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
EXPECT_EQ(0.0, left_wheel_vel_cmd_.get_optional().value());
EXPECT_EQ(0.0, right_wheel_vel_cmd_.get_optional().value());

state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

executor.cancel();
}

Expand All @@ -821,12 +850,11 @@ TEST_F(TestDiffDriveController, chainable_controller_unchained_mode)
ASSERT_TRUE(controller_->set_chained_mode(false));
ASSERT_FALSE(controller_->is_in_chained_mode());

auto state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand Down Expand Up @@ -873,7 +901,7 @@ TEST_F(TestDiffDriveController, chainable_controller_unchained_mode)
// Now check that the command interfaces are set to 0.0 on deactivation
// (despite calls to update())
std::this_thread::sleep_for(std::chrono::milliseconds(300));
state = controller_->get_node()->deactivate();
auto state = controller_->get_node()->deactivate();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
Expand All @@ -892,8 +920,8 @@ TEST_F(TestDiffDriveController, chainable_controller_unchained_mode)
EXPECT_EQ(0.0, right_wheel_vel_cmd_.get_optional().value())
<< "Wheels should be halted on cleanup()";

state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

executor.cancel();
}

Expand All @@ -917,12 +945,11 @@ TEST_F(TestDiffDriveController, chainable_controller_chained_mode)
ASSERT_TRUE(controller_->set_chained_mode(true));
ASSERT_TRUE(controller_->is_in_chained_mode());

auto state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand Down Expand Up @@ -952,7 +979,7 @@ TEST_F(TestDiffDriveController, chainable_controller_chained_mode)
// Now check that the command interfaces are set to 0.0 on deactivation
// (despite calls to update())
std::this_thread::sleep_for(std::chrono::milliseconds(300));
state = controller_->get_node()->deactivate();
auto state = controller_->get_node()->deactivate();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
Expand All @@ -971,8 +998,8 @@ TEST_F(TestDiffDriveController, chainable_controller_chained_mode)
EXPECT_EQ(0.0, right_wheel_vel_cmd_.get_optional().value())
<< "Wheels should be halted on cleanup()";

state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

executor.cancel();
}

Expand All @@ -981,7 +1008,7 @@ TEST_F(TestDiffDriveController, reference_interfaces_are_properly_exported)
ASSERT_EQ(
InitController(left_wheel_names, right_wheel_names), controller_interface::return_type::OK);

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
expect_configure_succeeded(controller_, true);

auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), 2)
Expand Down Expand Up @@ -1021,12 +1048,11 @@ TEST_F(TestDiffDriveController, deactivate_then_activate)

ASSERT_TRUE(controller_->set_chained_mode(false));

auto state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand Down Expand Up @@ -1057,7 +1083,7 @@ TEST_F(TestDiffDriveController, deactivate_then_activate)
// Now check that the command interfaces are set to 0.0 on deactivation
// (despite calls to update())
std::this_thread::sleep_for(std::chrono::milliseconds(300));
state = controller_->get_node()->deactivate();
auto state = controller_->get_node()->deactivate();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
Expand All @@ -1069,8 +1095,7 @@ TEST_F(TestDiffDriveController, deactivate_then_activate)
<< "Wheels should be halted on deactivate()";

// Activate again
state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand Down Expand Up @@ -1119,12 +1144,11 @@ TEST_F(TestDiffDriveController, command_with_zero_timestamp_is_accepted_with_war

ASSERT_TRUE(controller_->set_chained_mode(false));

auto state = controller_->configure();
ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
expect_configure_succeeded(controller_, true);

assignResourcesPosFeedback();

state = controller_->get_node()->activate();
ASSERT_EQ(State::PRIMARY_STATE_ACTIVE, state.id());
expect_activate_succeeded(controller_, true);

waitForSetup();

Expand All @@ -1142,7 +1166,7 @@ TEST_F(TestDiffDriveController, command_with_zero_timestamp_is_accepted_with_war

// Deactivate and cleanup
std::this_thread::sleep_for(std::chrono::milliseconds(300));
state = controller_->get_node()->deactivate();
auto state = controller_->get_node()->deactivate();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
state = controller_->get_node()->cleanup();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_UNCONFIGURED);
Expand Down
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