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Correct tests of Mock Hardware.
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@destogl
destogl committed Jan 15, 2024
1 parent 9026cbe commit 86fdd01
Showing 1 changed file with 38 additions and 38 deletions.
76 changes: 38 additions & 38 deletions hardware_interface/test/mock_components/test_generic_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
</hardware>
Expand All @@ -88,7 +88,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_asymetric_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
</hardware>
Expand All @@ -108,7 +108,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_standard_interfaces_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
</hardware>
Expand All @@ -131,7 +131,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_with_other_interface_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
</hardware>
Expand Down Expand Up @@ -161,7 +161,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_with_sensor_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
</hardware>
Expand Down Expand Up @@ -189,7 +189,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_with_sensor_mock_command_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="mock_sensor_commands">true</param>
Expand Down Expand Up @@ -218,7 +218,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_with_sensor_mock_command_True_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">True</param>
Expand Down Expand Up @@ -247,7 +247,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_with_mimic_joint_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
</hardware>
Expand All @@ -271,7 +271,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_standard_interfaces_with_offset_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="position_state_following_offset">-3</param>
Expand All @@ -297,7 +297,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="position_state_following_offset">-3</param>
Expand All @@ -322,7 +322,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="position_state_following_offset">-3</param>
Expand All @@ -349,7 +349,7 @@ class TestGenericSystem : public ::testing::Test

valid_urdf_ros2_control_system_robot_with_gpio_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="example_param_write_for_sec">2</param>
Expand Down Expand Up @@ -385,7 +385,7 @@ class TestGenericSystem : public ::testing::Test

valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="mock_gpio_commands">true</param>
Expand Down Expand Up @@ -419,7 +419,7 @@ class TestGenericSystem : public ::testing::Test

valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_gpio_commands">True</param>
Expand Down Expand Up @@ -453,7 +453,7 @@ class TestGenericSystem : public ::testing::Test

sensor_with_initial_value_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>fake_components/GenericSystem</plugin>
</hardware>
Expand All @@ -473,7 +473,7 @@ class TestGenericSystem : public ::testing::Test

gpio_with_initial_value_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>fake_components/GenericSystem</plugin>
</hardware>
Expand All @@ -487,7 +487,7 @@ class TestGenericSystem : public ::testing::Test

hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>
Expand Down Expand Up @@ -520,7 +520,7 @@ class TestGenericSystem : public ::testing::Test

valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>
Expand Down Expand Up @@ -560,7 +560,7 @@ class TestGenericSystem : public ::testing::Test

disabled_commands_ =
R"(
<ros2_control name="MockHardwareSystem" type="system">
<ros2_control name="GenericSystem2dof" type="system">
<hardware>
<plugin>fake_components/GenericSystem</plugin>
<param name="disable_commands">True</param>
Expand Down Expand Up @@ -714,7 +714,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_symetric_interfaces)
ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -745,7 +745,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_asymetric_interfaces)
ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -892,7 +892,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality)
auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_standard_interfaces_ +
ros2_control_test_assets::urdf_tail;

generic_system_functional_test(urdf, {"MockHardwareSystem"});
generic_system_functional_test(urdf);
}

TEST_F(TestGenericSystem, generic_system_2dof_other_interfaces)
Expand All @@ -901,7 +901,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_other_interfaces)
ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -984,7 +984,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor)
ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -1205,7 +1205,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command)
auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_ +
ros2_control_test_assets::urdf_tail;

test_generic_system_with_mock_sensor_commands(urdf, "MockHardwareSystem");
test_generic_system_with_mock_sensor_commands(urdf, "GenericSystem2dof");
}

TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
Expand All @@ -1214,7 +1214,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
hardware_system_2dof_with_sensor_mock_command_True_ +
ros2_control_test_assets::urdf_tail;

test_generic_system_with_mock_sensor_commands(urdf, "MockHardwareSystem");
test_generic_system_with_mock_sensor_commands(urdf, "GenericSystem2dof");
}

void TestGenericSystem::test_generic_system_with_mimic_joint(const std::string & urdf)
Expand Down Expand Up @@ -1288,7 +1288,7 @@ TEST_F(TestGenericSystem, hardware_system_2dof_with_mimic_joint)
auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_mimic_joint_ +
ros2_control_test_assets::urdf_tail;

test_generic_system_with_mimic_joint(urdf, "MockHardwareSystem");
test_generic_system_with_mimic_joint(urdf, "GenericSystem2dof");
}

TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
Expand All @@ -1297,7 +1297,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
hardware_system_2dof_standard_interfaces_with_offset_ +
ros2_control_test_assets::urdf_tail;

generic_system_functional_test(urdf, "MockHardwareSystem", -3);
generic_system_functional_test(urdf, -3);
}

TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_interface_missing)
Expand All @@ -1307,7 +1307,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i
ros2_control_test_assets::urdf_tail;

// custom interface is missing so offset will not be applied
generic_system_functional_test(urdf, "MockHardwareSystem", 0.0);
generic_system_functional_test(urdf, 0.0);
}

TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_interface)
Expand All @@ -1320,7 +1320,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i

TestableResourceManager rm(urdf);

const std::string hardware_name = "MockHardwareSystem";
const std::string hardware_name = "GenericSystem2dof";

// check is hardware is configured
auto status_map = rm.get_components_status();
Expand Down Expand Up @@ -1436,7 +1436,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio)
valid_urdf_ros2_control_system_robot_with_gpio_ + ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);

const std::string hardware_name = "MockHardwareSystem";
const std::string hardware_name = "GenericSystem2dof";

// check is hardware is started
auto status_map = rm.get_components_status();
Expand Down Expand Up @@ -1644,7 +1644,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ +
ros2_control_test_assets::urdf_tail;

test_generic_system_with_mock_gpio_commands(urdf, "MockHardwareSystem");
test_generic_system_with_mock_gpio_commands(urdf, "GenericSystem2dof");
}

TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True)
Expand All @@ -1653,7 +1653,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ +
ros2_control_test_assets::urdf_tail;

test_generic_system_with_mock_gpio_commands(urdf, "MockHardwareSystem");
test_generic_system_with_mock_gpio_commands(urdf, "GenericSystem2dof");
}

TEST_F(TestGenericSystem, sensor_with_initial_value)
Expand All @@ -1662,7 +1662,7 @@ TEST_F(TestGenericSystem, sensor_with_initial_value)
ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -1690,7 +1690,7 @@ TEST_F(TestGenericSystem, gpio_with_initial_value)
ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand All @@ -1711,7 +1711,7 @@ TEST_F(TestGenericSystem, simple_dynamics_pos_vel_acc_control_modes_interfaces)

TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -1905,7 +1905,7 @@ TEST_F(TestGenericSystem, disabled_commands_flag_is_active)
ros2_control_test_assets::urdf_head + disabled_commands_ + ros2_control_test_assets::urdf_tail;
TestableResourceManager rm(urdf);
// Activate components to get all interfaces available
activate_components(rm, {"MockHardwareSystem"});
activate_components(rm);

// Check interfaces
EXPECT_EQ(1u, rm.system_components_size());
Expand Down Expand Up @@ -1953,7 +1953,7 @@ TEST_F(TestGenericSystem, prepare_command_mode_switch_works_with_all_example_tag
TestableResourceManager rm(
ros2_control_test_assets::urdf_head + urdf + ros2_control_test_assets::urdf_tail);
rclcpp_lifecycle::State state(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, "active");
rm.set_component_state("MockHardwareSystem", state);
rm.set_component_state("GenericSystem2dof", state);
auto start_interfaces = rm.command_interface_keys();
std::vector<std::string> stop_interfaces;
return rm.prepare_command_mode_switch(start_interfaces, stop_interfaces);
Expand Down

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