From 96dc3fb8dfbac655b0d1c3c88b855ff5479ce8bd Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Thu, 1 Feb 2024 20:46:37 +0100 Subject: [PATCH] [CM] Use explicit constants in controller tests. (#1356) (cherry picked from commit cac7272b360c79e56b298b299ba32a33b458dce0) --- .../test/test_load_controller.cpp | 64 +++++++++---------- 1 file changed, 32 insertions(+), 32 deletions(-) diff --git a/controller_manager/test/test_load_controller.cpp b/controller_manager/test/test_load_controller.cpp index 390a7365f0..ed443ea3d4 100644 --- a/controller_manager/test/test_load_controller.cpp +++ b/controller_manager/test/test_load_controller.cpp @@ -28,8 +28,8 @@ using test_controller::TEST_CONTROLLER_CLASS_NAME; using ::testing::_; using ::testing::Return; -const auto controller_name1 = "test_controller1"; -const auto controller_name2 = "test_controller2"; +const auto CONTROLLER_NAME_1 = "test_controller1"; +const auto CONTROLLER_NAME_2 = "test_controller2"; using strvec = std::vector; class TestLoadController : public ControllerManagerFixture @@ -53,7 +53,7 @@ TEST_F(TestLoadController, load_controller_failed_init) TEST_F(TestLoadController, configuring_non_loaded_controller_fails) { // try configure non-loaded controller - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR); } TEST_F(TestLoadController, can_set_and_get_non_default_update_rate) @@ -82,7 +82,7 @@ class TestLoadedController : public TestLoadController { TestLoadController::SetUp(); - controller_if = cm_->load_controller(controller_name1, TEST_CONTROLLER_CLASS_NAME); + controller_if = cm_->load_controller(CONTROLLER_NAME_1, TEST_CONTROLLER_CLASS_NAME); ASSERT_NE(controller_if, nullptr); } @@ -93,7 +93,7 @@ class TestLoadedController : public TestLoadController controller_interface::return_type::OK) { switch_test_controllers( - strvec{controller_name1}, strvec{}, strictness, expected_future_status, + strvec{CONTROLLER_NAME_1}, strvec{}, strictness, expected_future_status, expected_interface_status); } @@ -104,7 +104,7 @@ class TestLoadedController : public TestLoadController controller_interface::return_type::OK) { switch_test_controllers( - strvec{}, strvec{controller_name1}, strictness, expected_future_status, + strvec{}, strvec{CONTROLLER_NAME_1}, strictness, expected_future_status, expected_interface_status); } }; @@ -121,7 +121,7 @@ TEST_P(TestLoadedControllerParametrized, load_and_configure_one_known_controller EXPECT_EQ( lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); - cm_->configure_controller(controller_name1); + cm_->configure_controller(CONTROLLER_NAME_1); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id()); } @@ -129,7 +129,7 @@ TEST_P(TestLoadedControllerParametrized, can_start_configured_controller) { const auto test_param = GetParam(); - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); start_test_controller(test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id()); } @@ -138,7 +138,7 @@ TEST_P(TestLoadedControllerParametrized, can_stop_active_controller) { const auto test_param = GetParam(); - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); start_test_controller(test_param.strictness); @@ -164,7 +164,7 @@ TEST_P(TestLoadedControllerParametrized, starting_and_stopping_a_controller) // Activate configured controller { ControllerManagerRunner cm_runner(this); - cm_->configure_controller(controller_name1); + cm_->configure_controller(CONTROLLER_NAME_1); } start_test_controller(test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id()); @@ -180,11 +180,11 @@ TEST_P(TestLoadedControllerParametrized, can_not_configure_active_controller) { const auto test_param = GetParam(); - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); start_test_controller(test_param.strictness); // Can not configure active controller - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id()); } @@ -205,7 +205,7 @@ TEST_P(TestLoadedControllerParametrized, can_not_start_finalized_controller) test_param.strictness, std::future_status::ready, test_param.expected_return); // Can not configure finalize controller - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, controller_if->get_state().id()); } @@ -213,7 +213,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_cleaned_u { const auto test_param = GetParam(); - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); start_test_controller(test_param.strictness); @@ -227,7 +227,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_cleaned_u test_controller->cleanup_calls = &cleanup_calls; // Configure from inactive state: controller can no be cleaned-up test_controller->simulate_cleanup_failure = true; - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::ERROR); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id()); EXPECT_EQ(0u, cleanup_calls); } @@ -236,7 +236,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_configure { const auto test_param = GetParam(); - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); start_test_controller(test_param.strictness); @@ -251,7 +251,7 @@ TEST_P(TestLoadedControllerParametrized, inactive_controller_cannot_be_configure test_controller->simulate_cleanup_failure = false; { ControllerManagerRunner cm_runner(this); - EXPECT_EQ(cm_->configure_controller(controller_name1), controller_interface::return_type::OK); + EXPECT_EQ(cm_->configure_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); } ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id()); EXPECT_EQ(1u, cleanup_calls); @@ -270,8 +270,8 @@ class SwitchTest const auto UNSPECIFIED = 0; const auto EMPTY_STR_VEC = strvec{}; const auto NONEXISTENT_CONTROLLER = strvec{"nonexistent_controller"}; -const auto VALID_CONTROLLER = strvec{controller_name1}; -const auto VALID_PLUS_NONEXISTENT_CONTROLLERS = strvec{controller_name1, "nonexistent_controller"}; +const auto VALID_CONTROLLER = strvec{CONTROLLER_NAME_1}; +const auto VALID_PLUS_NONEXISTENT_CONTROLLERS = strvec{CONTROLLER_NAME_1, "nonexistent_controller"}; TEST_P(SwitchTest, EmptyListOrNonExistentTest) { @@ -375,10 +375,10 @@ class TestTwoLoadedControllers : public TestLoadController, void SetUp() override { TestLoadController::SetUp(); - controller_if1 = cm_->load_controller(controller_name1, TEST_CONTROLLER_CLASS_NAME); + controller_if1 = cm_->load_controller(CONTROLLER_NAME_1, TEST_CONTROLLER_CLASS_NAME); ASSERT_NE(controller_if1, nullptr); EXPECT_EQ(1u, cm_->get_loaded_controllers().size()); - controller_if2 = cm_->load_controller(controller_name2, TEST_CONTROLLER_CLASS_NAME); + controller_if2 = cm_->load_controller(CONTROLLER_NAME_2, TEST_CONTROLLER_CLASS_NAME); ASSERT_NE(controller_if2, nullptr); EXPECT_EQ(2u, cm_->get_loaded_controllers().size()); ASSERT_EQ( @@ -390,10 +390,10 @@ class TestTwoLoadedControllers : public TestLoadController, TEST_F(TestTwoLoadedControllers, load_and_configure_two_known_controllers) { - cm_->configure_controller(controller_name1); + cm_->configure_controller(CONTROLLER_NAME_1); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if1->get_state().id()); - cm_->configure_controller(controller_name2); + cm_->configure_controller(CONTROLLER_NAME_2); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id()); } @@ -401,11 +401,11 @@ TEST_P(TestTwoLoadedControllers, switch_multiple_controllers) { const auto test_param = GetParam(); - cm_->configure_controller(controller_name1); + cm_->configure_controller(CONTROLLER_NAME_1); // Start controller #1 RCLCPP_INFO(cm_->get_logger(), "Starting stopped controller #1"); - switch_test_controllers(strvec{controller_name1}, strvec{}, test_param.strictness); + switch_test_controllers(strvec{CONTROLLER_NAME_1}, strvec{}, test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if1->get_state().id()); ASSERT_EQ( lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if2->get_state().id()); @@ -418,10 +418,10 @@ TEST_P(TestTwoLoadedControllers, switch_multiple_controllers) // TODO(destogl): fix this test for BEST_EFFORT - probably related to: // https://github.com/ros-controls/ros2_control/pull/582#issuecomment-1029931561 // switch_test_controllers( - // strvec{controller_name2}, strvec{controller_name1}, test_param.strictness, + // strvec{CONTROLLER_NAME_2}, strvec{CONTROLLER_NAME_1}, test_param.strictness, // std::future_status::ready, controller_interface::return_type::ERROR); switch_test_controllers( - strvec{controller_name2}, strvec{controller_name1}, STRICT, std::future_status::ready, + strvec{CONTROLLER_NAME_2}, strvec{CONTROLLER_NAME_1}, STRICT, std::future_status::ready, controller_interface::return_type::ERROR); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if1->get_state().id()); ASSERT_EQ( @@ -429,31 +429,31 @@ TEST_P(TestTwoLoadedControllers, switch_multiple_controllers) { ControllerManagerRunner cm_runner(this); - cm_->configure_controller(controller_name2); + cm_->configure_controller(CONTROLLER_NAME_2); } // Stop controller 1 RCLCPP_INFO(cm_->get_logger(), "Stopping controller #1"); - switch_test_controllers(strvec{}, strvec{controller_name1}, test_param.strictness); + switch_test_controllers(strvec{}, strvec{CONTROLLER_NAME_1}, test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if1->get_state().id()); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id()); // Start controller 1 again RCLCPP_INFO(cm_->get_logger(), "Starting stopped controller #1"); - switch_test_controllers(strvec{controller_name1}, strvec{}, test_param.strictness); + switch_test_controllers(strvec{CONTROLLER_NAME_1}, strvec{}, test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if1->get_state().id()); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id()); // Stop controller 1, start controller 2 RCLCPP_INFO(cm_->get_logger(), "Stopping controller #1, starting controller #2"); switch_test_controllers( - strvec{controller_name2}, strvec{controller_name1}, test_param.strictness); + strvec{CONTROLLER_NAME_2}, strvec{CONTROLLER_NAME_1}, test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if1->get_state().id()); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if2->get_state().id()); // Stop controller 2 RCLCPP_INFO(cm_->get_logger(), "Stopping controller #2"); - switch_test_controllers(strvec{}, strvec{controller_name2}, test_param.strictness); + switch_test_controllers(strvec{}, strvec{CONTROLLER_NAME_2}, test_param.strictness); ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if2->get_state().id()); }