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Update tests
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@destogl
destogl committed Feb 8, 2023
1 parent 113894e commit 43b183f
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Showing 3 changed files with 25 additions and 54 deletions.
2 changes: 1 addition & 1 deletion mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#include "rclcpp/utilities.hpp"
#include "ros2_control_test_assets/descriptions.hpp"

TEST(TestLoadMecanumDriveController, load_controller)
TEST(TestLoadMecanumDriveController, when_loading_controller_expect_no_exception)
{
rclcpp::init(0, nullptr);

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63 changes: 21 additions & 42 deletions mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,7 @@ namespace
const double EPS = 1e-3;
} // namespace

// when_all_parameters_are_set_expect_them_in_storage
TEST_F(MecanumDriveControllerTest, when_all_parameters_are_set_expect_them_in_storage)
TEST_F(MecanumDriveControllerTest, when_controller_is_configured_expect_all_parameters_set)
{
SetUpController();

Expand Down Expand Up @@ -71,7 +70,7 @@ TEST_F(MecanumDriveControllerTest, when_all_parameters_are_set_expect_them_in_st
}

// when all command, state and reference interfaces are exported then expect them in storage
TEST_F(MecanumDriveControllerTest, when_exported_all_interfaces_expect_them_in_storage)
TEST_F(MecanumDriveControllerTest, when_controller_configured_expect_properly_exported_interfaces)
{
SetUpController();

Expand Down Expand Up @@ -108,8 +107,7 @@ TEST_F(MecanumDriveControllerTest, when_exported_all_interfaces_expect_them_in_s
}
}

// when calling activate() expect resetting of the controller reference msg
TEST_F(MecanumDriveControllerTest, when_activated_expect_reference_msg_reset)
TEST_F(MecanumDriveControllerTest, when_controller_is_activated_expect_reference_reset)
{
SetUpController();

Expand All @@ -130,25 +128,20 @@ TEST_F(MecanumDriveControllerTest, when_activated_expect_reference_msg_reset)
}

// when calling update methods expect return type are a success
TEST_F(MecanumDriveControllerTest, when_update_successful_expect_return_type_success)
TEST_F(MecanumDriveControllerTest, when_controller_active_and_update_called_expect_success)
{
SetUpController();

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update_reference_from_subscribers(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
ASSERT_EQ(
controller_->update_and_write_commands(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

// when controller lifecycle methods expect return type is a success
TEST_F(MecanumDriveControllerTest, when_deactivated_expect_return_type_success)
TEST_F(MecanumDriveControllerTest, when_active_controller_is_deactivated_expect_success)
{
SetUpController();

Expand All @@ -160,7 +153,7 @@ TEST_F(MecanumDriveControllerTest, when_deactivated_expect_return_type_success)
// when calling on_activate, on_deactivate and on_activate methods consecutively
// expect resetting of reference msg, nan values in command_interfaces and
// resetting of reference msg respectively
TEST_F(MecanumDriveControllerTest, when_reactivated_expect_reference_msg_reset)
TEST_F(MecanumDriveControllerTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success)
{
SetUpController();

Expand All @@ -173,17 +166,12 @@ TEST_F(MecanumDriveControllerTest, when_reactivated_expect_reference_msg_reset)
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS - 4].get_value()));

ASSERT_EQ(
controller_->update_reference_from_subscribers(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
ASSERT_EQ(
controller_->update_and_write_commands(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
}

// when controller state published expect state value in storage
TEST_F(MecanumDriveControllerTest, when_published_success_expect_in_storage)
TEST_F(MecanumDriveControllerTest, when_update_is_called_expect_status_message)
{
SetUpController();

Expand All @@ -193,14 +181,14 @@ TEST_F(MecanumDriveControllerTest, when_published_success_expect_in_storage)
controller_->reference_interfaces_[0] = 1.5;

ControllerStateMsg msg;
subscribe_and_get_messages(msg);
subscribe_to_controller_status_execute_update_and_get_messages(msg);

EXPECT_NEAR(msg.odometry.pose.pose.position.y, 0.0, EPS);
EXPECT_EQ(msg.reference_velocity.linear.x, 1.5);
}

// when msg subscribed and published expect value in storage
TEST_F(MecanumDriveControllerTest, when_subscribed_msg_received_publish_succeeded_expect_value_in_storage)
TEST_F(MecanumDriveControllerTest, when_reference_msg_received_expect_updated_commands_and_status_message)
{
SetUpController();

Expand All @@ -211,12 +199,7 @@ TEST_F(MecanumDriveControllerTest, when_subscribed_msg_received_publish_succeede
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);

ASSERT_EQ(
controller_->update_reference_from_subscribers(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
ASSERT_EQ(
controller_->update_and_write_commands(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
ControllerStateMsg msg;
subscribe_and_get_messages(msg);
Expand All @@ -229,13 +212,9 @@ TEST_F(MecanumDriveControllerTest, when_subscribed_msg_received_publish_succeede
ASSERT_TRUE(controller_->wait_for_commands(executor));

ASSERT_EQ(
controller_->update_reference_from_subscribers(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
ASSERT_EQ(
controller_->update_and_write_commands(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);

// w0_vel = 1.0 / params_.kinematics.wheels_radius *
// (body_velocity_center_frame_.linear_x - body_velocity_center_frame_.linear_y
// - params_.kinematics.sum_of_robot_center_projection_on_X_Y_axis
Expand All @@ -246,10 +225,11 @@ TEST_F(MecanumDriveControllerTest, when_subscribed_msg_received_publish_succeede
subscribe_and_get_messages(msg);

ASSERT_EQ(msg.reference_velocity.linear.x, 1.5);
ASSERT_EQ(msg.back_left_wheel_velocity, 3.0);
}

// when too old msg is sent expect nan values in reference msg
TEST_F(MecanumDriveControllerTest, when_sending_too_old_message_expect_nan_in_reference_msg)
TEST_F(MecanumDriveControllerTest, when_reference_msg_is_too_old_expect_unset_reference)
{
SetUpController();
rclcpp::executors::MultiThreadedExecutor executor;
Expand All @@ -276,7 +256,7 @@ TEST_F(MecanumDriveControllerTest, when_sending_too_old_message_expect_nan_in_re
}

// when time stamp is zero expect that time stamp is set to current time stamp
TEST_F(MecanumDriveControllerTest, when_time_stamp_zero_expect_setting_to_current)
TEST_F(MecanumDriveControllerTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time)
{
SetUpController();
rclcpp::executors::MultiThreadedExecutor executor;
Expand Down Expand Up @@ -305,7 +285,7 @@ TEST_F(MecanumDriveControllerTest, when_time_stamp_zero_expect_setting_to_curren
}

// when age_of_last_command < ref_timeout expect reference msg is accepted and is in rt buffer
TEST_F(MecanumDriveControllerTest, when_message_accepted_expect_reference_msg_in_rt_buffer)
TEST_F(MecanumDriveControllerTest, when_message_has_valid_timestamp_expect_reference_set)
{
SetUpController();

Expand Down Expand Up @@ -335,8 +315,7 @@ TEST_F(MecanumDriveControllerTest, when_message_accepted_expect_reference_msg_in
// followed by
// when not in chainable mode and age_of_last_command < reference_timeout expect
// command_interfaces are calculated to non-nan and reference_interfaces set to nan

TEST_F(MecanumDriveControllerTest, test_update_logic_not_chainable_mode)
TEST_F(MecanumDriveControllerTest, when_reference_message_times_out_expect_commands_are_zeroed)
{
// 1. age>ref_timeout 2. age<ref_timeout
SetUpController();
Expand Down Expand Up @@ -448,7 +427,7 @@ TEST_F(MecanumDriveControllerTest, test_update_logic_not_chainable_mode)
// when in chainable mode and age_of_last_command < reference_timeout expect
// reference_interfaces set by preceding controller and command_interfaces
// are calculated to non-nan values and reference_interfaces are set to nan
TEST_F(MecanumDriveControllerTest, test_update_logic_chainable_mode)
TEST_F(MecanumDriveControllerTest, when_controller_in_chainable_mode_expect_receiving_commands_from_reference_interfaces_directly)
{
SetUpController();

Expand Down Expand Up @@ -502,7 +481,7 @@ TEST_F(MecanumDriveControllerTest, test_update_logic_chainable_mode)

// when ref_timeout = 0 expect reference_msg is accepted and command_interfaces
// are calculated to non-nan values and reference_interfaces are set to nan
TEST_F(MecanumDriveControllerTest, test_ref_timeout_zero_for_update)
TEST_F(MecanumDriveControllerTest, when_reference_timeout_is_zero_expect_reference_msg_being_used_only_once)
{
SetUpController();
rclcpp::executors::MultiThreadedExecutor executor;
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14 changes: 3 additions & 11 deletions mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,7 @@ class MecanumDriveControllerFixture : public ::testing::Test
controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
}

void subscribe_and_get_messages(ControllerStateMsg & msg)
void subscribe_to_controller_status_execute_update_and_get_messages(ControllerStateMsg & msg)
{
// create a new subscriber
rclcpp::Node test_subscription_node("test_subscription_node");
Expand All @@ -183,12 +183,7 @@ class MecanumDriveControllerFixture : public ::testing::Test
"/test_mecanum_drive_controller/controller_state", 10, subs_callback);
// call update to publish the test value
ASSERT_EQ(
controller_->update_reference_from_subscribers(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
ASSERT_EQ(
controller_->update_and_write_commands(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)),
controller_interface::return_type::OK);
// call update to publish the test value
// since update doesn't guarantee a published message, republish until received
Expand All @@ -197,10 +192,7 @@ class MecanumDriveControllerFixture : public ::testing::Test
wait_set.add_subscription(subscription);
while (max_sub_check_loop_count--)
{
controller_->update_reference_from_subscribers(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01));
controller_->update_and_write_commands(
controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01));
controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01));
// check if message has been received
if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
{
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