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test_resource_manager.cpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Authors: Karsten Knese, Denis Stogl
#include "test_resource_manager.hpp"
#include <algorithm>
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "hardware_interface/actuator_interface.hpp"
#include "hardware_interface/types/lifecycle_state_names.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "ros2_control_test_assets/descriptions.hpp"
#include "ros2_control_test_assets/test_hardware_interface_constants.hpp"
using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES;
using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME;
using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_PLUGIN_NAME;
using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES;
using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_TYPE;
using ros2_control_test_assets::TEST_SENSOR_HARDWARE_COMMAND_INTERFACES;
using ros2_control_test_assets::TEST_SENSOR_HARDWARE_NAME;
using ros2_control_test_assets::TEST_SENSOR_HARDWARE_PLUGIN_NAME;
using ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES;
using ros2_control_test_assets::TEST_SENSOR_HARDWARE_TYPE;
using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES;
using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_NAME;
using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_PLUGIN_NAME;
using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_STATE_INTERFACES;
using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_TYPE;
using testing::SizeIs;
auto configure_components =
[](TestableResourceManager & rm, const std::vector<std::string> & components = {})
{
return set_components_state(
rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
hardware_interface::lifecycle_state_names::INACTIVE);
};
auto activate_components =
[](TestableResourceManager & rm, const std::vector<std::string> & components = {})
{
return set_components_state(
rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
hardware_interface::lifecycle_state_names::ACTIVE);
};
auto deactivate_components =
[](TestableResourceManager & rm, const std::vector<std::string> & components = {})
{
return set_components_state(
rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
hardware_interface::lifecycle_state_names::INACTIVE);
};
auto cleanup_components =
[](TestableResourceManager & rm, const std::vector<std::string> & components = {})
{
return set_components_state(
rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
hardware_interface::lifecycle_state_names::UNCONFIGURED);
};
auto shutdown_components =
[](TestableResourceManager & rm, const std::vector<std::string> & components = {})
{
return set_components_state(
rm, components, lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
hardware_interface::lifecycle_state_names::FINALIZED);
};
TEST_F(ResourceManagerTest, initialization_empty)
{
ASSERT_ANY_THROW(TestableResourceManager rm(node_, ""););
}
TEST_F(ResourceManagerTest, initialization_with_urdf)
{
ASSERT_NO_THROW(TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf););
}
TEST_F(ResourceManagerTest, post_initialization_with_urdf)
{
TestableResourceManager rm(node_);
ASSERT_NO_THROW(rm.load_and_initialize_components(ros2_control_test_assets::minimal_robot_urdf));
}
void test_load_and_initialized_components_failure(const std::string & urdf)
{
rclcpp::Node node = rclcpp::Node("TestableResourceManager");
TestableResourceManager rm(node);
ASSERT_FALSE(rm.load_and_initialize_components(urdf));
ASSERT_FALSE(rm.are_components_initialized());
// resource manager should also not have any components
EXPECT_EQ(rm.actuator_components_size(), 0);
EXPECT_EQ(rm.sensor_components_size(), 0);
EXPECT_EQ(rm.system_components_size(), 0);
// test actuator
EXPECT_FALSE(rm.state_interface_exists("joint1/position"));
EXPECT_FALSE(rm.state_interface_exists("joint1/velocity"));
EXPECT_FALSE(rm.command_interface_exists("joint1/position"));
EXPECT_FALSE(rm.command_interface_exists("joint1/max_velocity"));
// test sensor
EXPECT_FALSE(rm.state_interface_exists("sensor1/velocity"));
// test system
EXPECT_FALSE(rm.state_interface_exists("joint2/position"));
EXPECT_FALSE(rm.state_interface_exists("joint2/velocity"));
EXPECT_FALSE(rm.state_interface_exists("joint2/acceleration"));
EXPECT_FALSE(rm.command_interface_exists("joint2/velocity"));
EXPECT_FALSE(rm.command_interface_exists("joint2/max_acceleration"));
EXPECT_FALSE(rm.state_interface_exists("joint3/position"));
EXPECT_FALSE(rm.state_interface_exists("joint3/velocity"));
EXPECT_FALSE(rm.state_interface_exists("joint3/acceleration"));
EXPECT_FALSE(rm.command_interface_exists("joint3/velocity"));
EXPECT_FALSE(rm.command_interface_exists("joint3/max_acceleration"));
}
TEST_F(ResourceManagerTest, test_uninitializable_hardware)
{
SCOPED_TRACE("test_uninitializable_hardware_no_validation");
// If the the hardware can not be initialized and load_and_initialize_components didn't try to
// validate the interfaces, the interface should not show up
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_uninitializable_robot_urdf);
}
TEST_F(ResourceManagerTest, initialization_with_urdf_and_manual_validation)
{
// we validate the results manually
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf, false);
EXPECT_EQ(1u, rm.actuator_components_size());
EXPECT_EQ(1u, rm.sensor_components_size());
EXPECT_EQ(1u, rm.system_components_size());
auto state_interface_keys = rm.state_interface_keys();
ASSERT_THAT(state_interface_keys, SizeIs(11));
EXPECT_TRUE(rm.state_interface_exists("joint1/position"));
EXPECT_TRUE(rm.state_interface_exists("joint1/velocity"));
EXPECT_TRUE(rm.state_interface_exists("sensor1/velocity"));
EXPECT_TRUE(rm.state_interface_exists("joint2/position"));
EXPECT_TRUE(rm.state_interface_exists("joint3/position"));
auto command_interface_keys = rm.command_interface_keys();
ASSERT_THAT(command_interface_keys, SizeIs(6));
EXPECT_TRUE(rm.command_interface_exists("joint1/position"));
EXPECT_TRUE(rm.command_interface_exists("joint2/velocity"));
EXPECT_TRUE(rm.command_interface_exists("joint3/velocity"));
}
TEST_F(ResourceManagerTest, expect_validation_failure_if_not_all_interfaces_are_exported)
{
SCOPED_TRACE("missing state keys");
// missing state keys
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_missing_state_keys_urdf);
SCOPED_TRACE("missing command keys");
// missing command keys
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_missing_command_keys_urdf);
}
TEST_F(ResourceManagerTest, initialization_with_urdf_unclaimed)
{
// we validate the results manually
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
auto command_interface_keys = rm.command_interface_keys();
for (const auto & key : command_interface_keys)
{
EXPECT_FALSE(rm.command_interface_is_claimed(key));
}
// state interfaces don't have to be locked, hence any arbitrary key
// should return false.
auto state_interface_keys = rm.state_interface_keys();
for (const auto & key : state_interface_keys)
{
EXPECT_FALSE(rm.command_interface_is_claimed(key));
}
}
TEST_F(ResourceManagerTest, no_load_and_initialize_components_function_called)
{
TestableResourceManager rm(node_);
ASSERT_FALSE(rm.are_components_initialized());
}
TEST_F(
ResourceManagerTest, expect_load_and_initialize_to_fail_when_a_hw_component_plugin_does_not_exist)
{
SCOPED_TRACE("Actuator plugin does not exist");
// Actuator
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_not_existing_actuator_plugin);
SCOPED_TRACE("Sensor plugin does not exist");
// Sensor
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_not_existing_sensors_plugin);
SCOPED_TRACE("System plugin does not exist");
// System
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_not_existing_system_plugin);
}
TEST_F(ResourceManagerTest, expect_load_and_initialize_to_fail_when_there_are_dupplicate_of_hw_comp)
{
SCOPED_TRACE("Duplicated components");
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_duplicated_component);
}
TEST_F(
ResourceManagerTest, expect_load_and_initialize_to_fail_when_a_hw_component_initialization_fails)
{
SCOPED_TRACE("Actuator initialization fails");
// Actuator
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_actuator_initialization_error);
SCOPED_TRACE("Sensor initialization fails");
// Sensor
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_sensor_initialization_error);
SCOPED_TRACE("System initialization fails");
// System
test_load_and_initialized_components_failure(
ros2_control_test_assets::minimal_robot_system_initialization_error);
}
TEST_F(ResourceManagerTest, load_and_initialize_components_called_if_urdf_is_valid)
{
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
ASSERT_TRUE(rm.are_components_initialized());
}
TEST_F(ResourceManagerTest, load_and_initialize_components_called_if_async_urdf_is_valid)
{
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_async_robot_urdf);
ASSERT_TRUE(rm.are_components_initialized());
}
TEST_F(ResourceManagerTest, can_load_and_initialize_components_later)
{
TestableResourceManager rm(node_);
ASSERT_FALSE(rm.are_components_initialized());
rm.load_and_initialize_components(ros2_control_test_assets::minimal_robot_urdf);
ASSERT_TRUE(rm.are_components_initialized());
}
TEST_F(
ResourceManagerTest,
if_component_excluded_from_loading_expect_that_component_not_loaded_and_initialized)
{
const auto component_to_not_load = "TestSystemHardware";
std::vector<std::string> dont_load_components;
dont_load_components.push_back(component_to_not_load);
TestableResourceManager rm(node_);
rm.load_and_initialize_components(
ros2_control_test_assets::minimal_robot_urdf, 100, dont_load_components);
ASSERT_TRUE(rm.are_components_initialized());
const auto components = rm.get_components_status();
EXPECT_EQ(components.size(), 2); // Sensor and Actuator are loaded
EXPECT_TRUE(components.find(component_to_not_load) == components.end()); // not found
}
TEST_F(ResourceManagerTest, resource_claiming)
{
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
// Activate components to get all interfaces available
activate_components(rm);
{
const auto key = "joint1/position";
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
{
auto position_command_interface = rm.claim_command_interface(key);
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_TRUE(rm.command_interface_is_claimed(key));
{
EXPECT_ANY_THROW(rm.claim_command_interface(key));
EXPECT_TRUE(rm.command_interface_is_available(key));
}
}
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
}
// command interfaces can only be claimed once
for (const auto & key :
{"joint1/position", "joint1/position", "joint1/position", "joint2/velocity",
"joint3/velocity"})
{
{
auto interface = rm.claim_command_interface(key);
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_TRUE(rm.command_interface_is_claimed(key));
{
EXPECT_ANY_THROW(rm.claim_command_interface(key));
EXPECT_TRUE(rm.command_interface_is_available(key));
}
}
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
}
// TODO(destogl): This claim test is not true.... can not be...
// state interfaces can be claimed multiple times
for (const auto & key :
{"joint1/position", "joint1/velocity", "sensor1/velocity", "joint2/position",
"joint3/position"})
{
{
EXPECT_TRUE(rm.state_interface_is_available(key));
auto interface = rm.claim_state_interface(key);
{
EXPECT_TRUE(rm.state_interface_is_available(key));
EXPECT_NO_THROW(rm.claim_state_interface(key));
}
}
}
std::vector<hardware_interface::LoanedCommandInterface> interfaces;
const auto interface_names = {"joint1/position", "joint2/velocity", "joint3/velocity"};
for (const auto & key : interface_names)
{
EXPECT_TRUE(rm.command_interface_is_available(key));
interfaces.emplace_back(rm.claim_command_interface(key));
}
for (const auto & key : interface_names)
{
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_TRUE(rm.command_interface_is_claimed(key));
}
interfaces.clear();
for (const auto & key : interface_names)
{
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
}
}
class ExternalComponent : public hardware_interface::ActuatorInterface
{
std::vector<hardware_interface::StateInterface> export_state_interfaces() override
{
std::vector<hardware_interface::StateInterface> state_interfaces;
state_interfaces.emplace_back(
hardware_interface::StateInterface("external_joint", "external_state_interface", nullptr));
return state_interfaces;
}
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override
{
std::vector<hardware_interface::CommandInterface> command_interfaces;
command_interfaces.emplace_back(hardware_interface::CommandInterface(
"external_joint", "external_command_interface", nullptr));
return command_interfaces;
}
std::string get_name() const override { return "ExternalComponent"; }
hardware_interface::return_type read(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
{
return hardware_interface::return_type::OK;
}
hardware_interface::return_type write(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
{
return hardware_interface::return_type::OK;
}
};
TEST_F(ResourceManagerTest, post_initialization_add_components)
{
// we validate the results manually
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
// Activate components to get all interfaces available
activate_components(rm);
EXPECT_EQ(1u, rm.actuator_components_size());
EXPECT_EQ(1u, rm.sensor_components_size());
EXPECT_EQ(1u, rm.system_components_size());
ASSERT_THAT(rm.state_interface_keys(), SizeIs(11));
ASSERT_THAT(rm.command_interface_keys(), SizeIs(6));
hardware_interface::HardwareInfo external_component_hw_info;
external_component_hw_info.name = "ExternalComponent";
external_component_hw_info.type = "actuator";
external_component_hw_info.is_async = false;
rm.import_component(std::make_unique<ExternalComponent>(), external_component_hw_info);
EXPECT_EQ(2u, rm.actuator_components_size());
ASSERT_THAT(rm.state_interface_keys(), SizeIs(12));
EXPECT_TRUE(rm.state_interface_exists("external_joint/external_state_interface"));
ASSERT_THAT(rm.command_interface_keys(), SizeIs(7));
EXPECT_TRUE(rm.command_interface_exists("external_joint/external_command_interface"));
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map["ExternalComponent"].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
configure_components(rm, {"ExternalComponent"});
status_map = rm.get_components_status();
EXPECT_EQ(
status_map["ExternalComponent"].state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
activate_components(rm, {"ExternalComponent"});
status_map = rm.get_components_status();
EXPECT_EQ(
status_map["ExternalComponent"].state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_NO_THROW(rm.claim_state_interface("external_joint/external_state_interface"));
EXPECT_NO_THROW(rm.claim_command_interface("external_joint/external_command_interface"));
}
TEST_F(ResourceManagerTest, default_prepare_perform_switch)
{
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
// Activate components to get all interfaces available
activate_components(rm);
// Default behavior for empty key lists, e.g., when a Broadcaster is activated
EXPECT_TRUE(rm.prepare_command_mode_switch({}, {}));
EXPECT_TRUE(rm.perform_command_mode_switch({}, {}));
}
TEST_F(ResourceManagerTest, resource_status)
{
TestableResourceManager rm(
node_, ros2_control_test_assets::minimal_robot_urdf_with_different_hw_rw_rate);
auto status_map = rm.get_components_status();
// name
EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].name, TEST_ACTUATOR_HARDWARE_NAME);
EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].name, TEST_SENSOR_HARDWARE_NAME);
EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].name, TEST_SYSTEM_HARDWARE_NAME);
// type
EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].type, TEST_ACTUATOR_HARDWARE_TYPE);
EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].type, TEST_SENSOR_HARDWARE_TYPE);
EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].type, TEST_SYSTEM_HARDWARE_TYPE);
// read/write_rate
EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].rw_rate, 50u);
EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].rw_rate, 20u);
EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].rw_rate, 25u);
// plugin_name
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].plugin_name, TEST_ACTUATOR_HARDWARE_PLUGIN_NAME);
EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].plugin_name, TEST_SENSOR_HARDWARE_PLUGIN_NAME);
EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].plugin_name, TEST_SYSTEM_HARDWARE_PLUGIN_NAME);
// state
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
auto check_interfaces = [](
const std::vector<std::string> & registered_interfaces,
const std::vector<std::string> & interface_names)
{
for (const std::string & interface : interface_names)
{
auto it = std::find(registered_interfaces.begin(), registered_interfaces.end(), interface);
EXPECT_NE(it, registered_interfaces.end());
}
};
check_interfaces(
status_map[TEST_ACTUATOR_HARDWARE_NAME].command_interfaces,
TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES);
EXPECT_TRUE(status_map[TEST_SENSOR_HARDWARE_NAME].command_interfaces.empty());
check_interfaces(
status_map[TEST_SYSTEM_HARDWARE_NAME].command_interfaces,
TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES);
check_interfaces(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state_interfaces,
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES);
EXPECT_NE(
std::find(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state_interfaces.begin(),
status_map[TEST_ACTUATOR_HARDWARE_NAME].state_interfaces.end(),
"joint1/some_unlisted_interface"),
status_map[TEST_ACTUATOR_HARDWARE_NAME].state_interfaces.end());
check_interfaces(
status_map[TEST_SENSOR_HARDWARE_NAME].state_interfaces, TEST_SENSOR_HARDWARE_STATE_INTERFACES);
check_interfaces(
status_map[TEST_SYSTEM_HARDWARE_NAME].state_interfaces, TEST_SYSTEM_HARDWARE_STATE_INTERFACES);
}
TEST_F(ResourceManagerTest, lifecycle_all_resources)
{
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
// All resources start as UNCONFIGURED
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
}
ASSERT_THAT(configure_components(rm), ::testing::Each(hardware_interface::return_type::OK));
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
}
ASSERT_THAT(activate_components(rm), ::testing::Each(hardware_interface::return_type::OK));
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
}
ASSERT_THAT(deactivate_components(rm), ::testing::Each(hardware_interface::return_type::OK));
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
}
ASSERT_THAT(cleanup_components(rm), ::testing::Each(hardware_interface::return_type::OK));
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
}
ASSERT_THAT(shutdown_components(rm), ::testing::Each(hardware_interface::return_type::OK));
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
}
}
TEST_F(ResourceManagerTest, lifecycle_individual_resources)
{
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
// All resources start as UNCONFIGURED
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
}
configure_components(rm, {TEST_ACTUATOR_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
}
activate_components(rm, {TEST_ACTUATOR_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
}
configure_components(rm, {TEST_SENSOR_HARDWARE_NAME, TEST_SYSTEM_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
}
activate_components(rm, {TEST_SENSOR_HARDWARE_NAME, TEST_SYSTEM_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
}
deactivate_components(rm, {TEST_ACTUATOR_HARDWARE_NAME, TEST_SENSOR_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
}
cleanup_components(rm, {TEST_SENSOR_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::INACTIVE);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::ACTIVE);
}
shutdown_components(rm, {TEST_ACTUATOR_HARDWARE_NAME, TEST_SYSTEM_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::UNCONFIGURED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
}
shutdown_components(rm, {TEST_SENSOR_HARDWARE_NAME});
{
auto status_map = rm.get_components_status();
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_ACTUATOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_SENSOR_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
EXPECT_EQ(
status_map[TEST_SYSTEM_HARDWARE_NAME].state.label(),
hardware_interface::lifecycle_state_names::FINALIZED);
}
}
TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
{
using std::placeholders::_1;
TestableResourceManager rm(node_, ros2_control_test_assets::minimal_robot_urdf);
auto check_interfaces =
[](const std::vector<std::string> & interface_names, auto check_method, bool expected_result)
{
for (const auto & interface : interface_names)
{
EXPECT_EQ(check_method(interface), expected_result);
}
};
auto check_interface_claiming = [&](
const std::vector<std::string> & state_interface_names,
const std::vector<std::string> & command_interface_names,
bool expected_result)
{
std::vector<hardware_interface::LoanedStateInterface> states;
std::vector<hardware_interface::LoanedCommandInterface> commands;
if (expected_result)
{
for (const auto & key : state_interface_names)
{
EXPECT_NO_THROW(states.emplace_back(rm.claim_state_interface(key)));
}
for (const auto & key : command_interface_names)
{
EXPECT_NO_THROW(commands.emplace_back(rm.claim_command_interface(key)));
}
}
else
{
for (const auto & key : state_interface_names)
{
EXPECT_ANY_THROW(states.emplace_back(rm.claim_state_interface(key)));
}
for (const auto & key : command_interface_names)
{
EXPECT_ANY_THROW(commands.emplace_back(rm.claim_command_interface(key)));
}
}
check_interfaces(
command_interface_names,
std::bind(&TestableResourceManager::command_interface_is_claimed, &rm, _1), expected_result);
};
// All resources start as UNCONFIGURED - All interfaces are imported but not
// available
{
check_interfaces(
TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES,
std::bind(&TestableResourceManager::command_interface_exists, &rm, _1), true);
check_interfaces(
TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
std::bind(&TestableResourceManager::command_interface_exists, &rm, _1), true);
check_interfaces(
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES,
std::bind(&TestableResourceManager::state_interface_exists, &rm, _1), true);
check_interfaces(
TEST_SENSOR_HARDWARE_STATE_INTERFACES,
std::bind(&TestableResourceManager::state_interface_exists, &rm, _1), true);
check_interfaces(
TEST_SYSTEM_HARDWARE_STATE_INTERFACES,
std::bind(&TestableResourceManager::state_interface_exists, &rm, _1), true);
check_interfaces(
TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES,
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
check_interfaces(
TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
check_interfaces(
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES,
std::bind(&TestableResourceManager::state_interface_is_available, &rm, _1), false);
check_interfaces(
TEST_SENSOR_HARDWARE_STATE_INTERFACES,
std::bind(&TestableResourceManager::state_interface_is_available, &rm, _1), false);
check_interfaces(
TEST_SYSTEM_HARDWARE_STATE_INTERFACES,
std::bind(&TestableResourceManager::state_interface_is_available, &rm, _1), false);
}
// Nothing can be claimed
{
check_interface_claiming(
TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES, false);
check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
check_interface_claiming(
TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, false);
}
// When actuator is configured all interfaces become available
configure_components(rm, {TEST_ACTUATOR_HARDWARE_NAME});
{
check_interfaces(
{"joint1/position"},
std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
check_interfaces(
{"joint1/max_velocity"},