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test_controller_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.
#include <memory>
#include <string>
#include <vector>
#include "controller_manager/controller_manager.hpp"
#include "controller_manager_msgs/msg/controller_manager_activity.hpp"
#include "controller_manager_test_common.hpp"
#include "gmock/gmock.h"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp/executor.hpp"
#include "test_chainable_controller/test_chainable_controller.hpp"
#include "test_controller/test_controller.hpp"
using ::testing::_;
using ::testing::Return;
class TestControllerManagerWithStrictness
: public ControllerManagerFixture<controller_manager::ControllerManager>,
public testing::WithParamInterface<Strictness>
{
public:
void get_cm_status_message(
const std::string & topic, controller_manager_msgs::msg::ControllerManagerActivity & cm_msg)
{
controller_manager_msgs::msg::ControllerManagerActivity::SharedPtr received_msg;
rclcpp::Node test_node("test_node");
auto subs_callback =
[&](const controller_manager_msgs::msg::ControllerManagerActivity::SharedPtr msg)
{ received_msg = msg; };
auto subscription =
test_node.create_subscription<controller_manager_msgs::msg::ControllerManagerActivity>(
topic, rclcpp::QoS(1).reliable().transient_local(), subs_callback);
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(test_node.get_node_base_interface());
std::this_thread::sleep_for(std::chrono::milliseconds(200));
// call update to publish the test value
// since update doesn't guarantee a published message, republish until received
int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop
while (max_sub_check_loop_count--)
{
const auto timeout = std::chrono::milliseconds{50};
const auto until = test_node.get_clock()->now() + timeout;
while (!received_msg && test_node.get_clock()->now() < until)
{
executor.spin_some();
std::this_thread::sleep_for(std::chrono::microseconds(10));
}
// check if message has been received
if (received_msg.get())
{
break;
}
}
ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
"controller manager activity";
ASSERT_TRUE(received_msg);
cm_msg = *received_msg;
}
};
class TestControllerManagerRobotDescription
: public ControllerManagerFixture<controller_manager::ControllerManager>
{
};
TEST_F(TestControllerManagerRobotDescription, controller_robot_description_update)
{
auto test_controller = std::make_shared<test_controller::TestController>();
auto test_controller2 = std::make_shared<test_controller::TestController>();
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
// Now change the robot description and then load a new controller and see if the new controller
// gets the new description and the old controller still maintains the configuration
auto msg = std_msgs::msg::String();
msg.data = ros2_control_test_assets::minimal_robot_missing_state_keys_urdf;
cm_->robot_description_callback(msg);
cm_->add_controller(
test_controller2, test_controller::TEST_CONTROLLER2_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
ASSERT_EQ(
ros2_control_test_assets::minimal_robot_missing_state_keys_urdf,
test_controller2->get_robot_description());
}
TEST_P(TestControllerManagerWithStrictness, single_controller_lifecycle)
{
const auto test_param = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
// Check for the hardware component and no controllers
controller_manager_msgs::msg::ControllerManagerActivity cm_msg;
const std::string cm_activity_topic =
std::string("/") + std::string(TEST_CM_NAME) + std::string("/activity");
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 0u);
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
EXPECT_EQ(1, test_controller.use_count());
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
// setup interface to claim from controllers
controller_interface::InterfaceConfiguration cmd_itfs_cfg;
cmd_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg.names.push_back(interface);
}
test_controller->set_command_interface_configuration(cmd_itfs_cfg);
controller_interface::InterfaceConfiguration state_itfs_cfg;
state_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
for (const auto & interface : ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
test_controller->set_state_interface_configuration(state_itfs_cfg);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());
// configure controller
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
}
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {test_controller::TEST_CONTROLLER_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller->internal_counter, 1u);
size_t last_internal_counter = test_controller->internal_counter;
// Stop controller, will take effect at the end of the update function
start_controllers = {};
stop_controllers = {test_controller::TEST_CONTROLLER_NAME};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter + 1u, test_controller->internal_counter)
<< "Controller is stopped at the end of update, so it should have done one more update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
auto unload_future = std::async(
std::launch::async, &controller_manager::ControllerManager::unload_controller, cm_,
test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(std::future_status::timeout, unload_future.wait_for(std::chrono::milliseconds(100)))
<< "unload_controller should be blocking until next update cycle";
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, unload_future.get());
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
test_controller->get_lifecycle_state().id());
}
TEST_P(TestControllerManagerWithStrictness, switch_controller_with_unknown_controller)
{
const auto test_param = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
auto test_controller2 = std::make_shared<test_controller::TestController>();
// Check for the hardware component and no controllers
controller_manager_msgs::msg::ControllerManagerActivity cm_msg;
const std::string cm_activity_topic =
std::string("/") + std::string(TEST_CM_NAME) + std::string("/activity");
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 0u);
constexpr char TEST_CONTROLLER2_NAME[] = "test_controller2_name";
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
cm_->add_controller(
test_controller2, TEST_CONTROLLER2_NAME, test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(2u, cm_->get_loaded_controllers().size());
EXPECT_EQ(2, test_controller.use_count());
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 2u);
ASSERT_EQ(cm_msg.controllers[0].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_msg.controllers[1].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[1].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
// setup interface to claim from controllers
controller_interface::InterfaceConfiguration cmd_itfs_cfg;
cmd_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg.names.push_back(interface);
}
test_controller->set_command_interface_configuration(cmd_itfs_cfg);
controller_interface::InterfaceConfiguration state_itfs_cfg;
state_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
for (const auto & interface : ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
test_controller->set_state_interface_configuration(state_itfs_cfg);
controller_interface::InterfaceConfiguration cmd_itfs_cfg2;
cmd_itfs_cfg2.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg2.names.push_back(interface);
}
test_controller2->set_command_interface_configuration(cmd_itfs_cfg2);
controller_interface::InterfaceConfiguration state_itfs_cfg2;
state_itfs_cfg2.type = controller_interface::interface_configuration_type::ALL;
test_controller2->set_state_interface_configuration(state_itfs_cfg2);
// Check if namespace is set correctly
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller Manager namespace is '%s'",
cm_->get_namespace());
EXPECT_STREQ(cm_->get_namespace(), "/");
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller 1 namespace is '%s'",
test_controller->get_node()->get_namespace());
EXPECT_STREQ(test_controller->get_node()->get_namespace(), "/");
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller 2 namespace is '%s'",
test_controller2->get_node()->get_namespace());
EXPECT_STREQ(test_controller2->get_node()->get_namespace(), "/");
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());
// configure controller
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
cm_->configure_controller(TEST_CONTROLLER2_NAME);
}
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 2u);
// TODO: Confirm whether first controller is TEST_CONTROLLER2_NAME or test_controller??
// Inconsistent from the order of insertion.
ASSERT_EQ(cm_msg.controllers[0].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
ASSERT_EQ(cm_msg.controllers[1].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[1].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is not started";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {"fake_controller", TEST_CONTROLLER2_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(test_param.expected_return, switch_future.get());
}
auto expected_ctrl2_state = test_param.strictness == 1
? lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE
: lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE;
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 2u);
ASSERT_EQ(cm_msg.controllers[0].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, expected_ctrl2_state);
ASSERT_EQ(cm_msg.controllers[1].name, test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(cm_msg.controllers[1].state.id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller2->internal_counter, test_param.expected_counter);
auto unload_future = std::async(
std::launch::async, &controller_manager::ControllerManager::unload_controller, cm_,
test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(std::future_status::timeout, unload_future.wait_for(std::chrono::milliseconds(100)))
<< "unload_controller should be blocking until next update cycle";
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, unload_future.get());
get_cm_status_message(cm_activity_topic, cm_msg);
ASSERT_EQ(cm_msg.hardware_components.size(), 3u);
ASSERT_EQ(cm_msg.controllers.size(), 1u);
ASSERT_EQ(cm_msg.controllers[0].name, TEST_CONTROLLER2_NAME);
ASSERT_EQ(cm_msg.controllers[0].state.id, expected_ctrl2_state);
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
test_controller->get_lifecycle_state().id());
EXPECT_EQ(1, test_controller.use_count());
}
TEST_P(TestControllerManagerWithStrictness, async_controller_lifecycle)
{
const auto test_param = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
auto test_controller2 = std::make_shared<test_controller::TestController>();
constexpr char TEST_CONTROLLER2_NAME[] = "test_controller2_name";
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
cm_->add_controller(
test_controller2, TEST_CONTROLLER2_NAME, test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(2u, cm_->get_loaded_controllers().size());
EXPECT_EQ(2, test_controller.use_count());
// setup interface to claim from controllers
controller_interface::InterfaceConfiguration cmd_itfs_cfg;
cmd_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg.names.push_back(interface);
}
test_controller->set_command_interface_configuration(cmd_itfs_cfg);
controller_interface::InterfaceConfiguration state_itfs_cfg;
state_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
for (const auto & interface : ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
test_controller->set_state_interface_configuration(state_itfs_cfg);
controller_interface::InterfaceConfiguration cmd_itfs_cfg2;
cmd_itfs_cfg2.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg2.names.push_back(interface);
}
test_controller2->set_command_interface_configuration(cmd_itfs_cfg2);
controller_interface::InterfaceConfiguration state_itfs_cfg2;
state_itfs_cfg2.type = controller_interface::interface_configuration_type::ALL;
test_controller2->set_state_interface_configuration(state_itfs_cfg2);
// Check if namespace is set correctly
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller Manager namespace is '%s'",
cm_->get_namespace());
EXPECT_STREQ(cm_->get_namespace(), "/");
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller 1 namespace is '%s'",
test_controller->get_node()->get_namespace());
EXPECT_STREQ(test_controller->get_node()->get_namespace(), "/");
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller 2 namespace is '%s'",
test_controller2->get_node()->get_namespace());
EXPECT_STREQ(test_controller2->get_node()->get_namespace(), "/");
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());
// configure controller
rclcpp::Parameter update_rate_parameter("update_rate", static_cast<int>(20));
rclcpp::Parameter is_async_parameter("is_async", rclcpp::ParameterValue(true));
test_controller->get_node()->set_parameter(update_rate_parameter);
test_controller->get_node()->set_parameter(is_async_parameter);
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
cm_->configure_controller(TEST_CONTROLLER2_NAME);
}
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is not started";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {"fake_controller", TEST_CONTROLLER2_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(test_param.expected_return, switch_future.get());
}
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller2->internal_counter, test_param.expected_counter);
// Start the real test controller, will take effect at the end of the update function
start_controllers = {test_controller::TEST_CONTROLLER_NAME};
stop_controllers = {};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());
time_ = cm_->get_trigger_clock()->now();
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(test_controller->internal_counter, 0u);
std::this_thread::sleep_for(
std::chrono::milliseconds(1000 / (test_controller->get_update_rate())));
EXPECT_EQ(test_controller->internal_counter, 1u);
EXPECT_EQ(test_controller->update_period_.seconds(), 0.0)
<< "The first trigger cycle should have zero period";
const double exp_period = (cm_->get_trigger_clock()->now() - time_).seconds();
time_ = cm_->get_trigger_clock()->now();
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(test_controller->internal_counter, 1u);
std::this_thread::sleep_for(
std::chrono::milliseconds(1000 / (test_controller->get_update_rate())));
EXPECT_EQ(test_controller->internal_counter, 2u);
EXPECT_THAT(
test_controller->update_period_.seconds(),
testing::AllOf(testing::Gt(0.6 * exp_period), testing::Lt((1.4 * exp_period))));
size_t last_internal_counter = test_controller->internal_counter;
{
ControllerManagerRunner cm_runner(this);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
ASSERT_THAT(
test_controller->internal_counter,
testing::AllOf(
testing::Ge(last_internal_counter + 18), testing::Le(last_internal_counter + 21)))
<< "As the sleep is 1 sec and the controller rate is 20Hz, we should have approx. 20 updates";
last_internal_counter = test_controller->internal_counter;
// Stop controller, will take effect at the end of the update function
start_controllers = {};
stop_controllers = {test_controller::TEST_CONTROLLER_NAME};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
<< "This shouldn't have updated as this is async and in the controller it is waiting before "
"updating the counter";
std::this_thread::sleep_for(
std::chrono::milliseconds(1000 / (test_controller->get_update_rate())));
EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
<< "Controller is stopped at the end of update, so it should have done one more update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
auto unload_future = std::async(
std::launch::async, &controller_manager::ControllerManager::unload_controller, cm_,
test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(std::future_status::timeout, unload_future.wait_for(std::chrono::milliseconds(100)))
<< "unload_controller should be blocking until next update cycle";
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, unload_future.get());
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
test_controller->get_lifecycle_state().id());
EXPECT_EQ(1, test_controller.use_count());
}
TEST_P(TestControllerManagerWithStrictness, async_controller_lifecycle_at_cm_rate)
{
const auto test_param = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
auto test_controller2 = std::make_shared<test_controller::TestController>();
constexpr char TEST_CONTROLLER2_NAME[] = "test_controller2_name";
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
cm_->add_controller(
test_controller2, TEST_CONTROLLER2_NAME, test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(2u, cm_->get_loaded_controllers().size());
EXPECT_EQ(2, test_controller.use_count());
// setup interface to claim from controllers
controller_interface::InterfaceConfiguration cmd_itfs_cfg;
cmd_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg.names.push_back(interface);
}
test_controller->set_command_interface_configuration(cmd_itfs_cfg);
controller_interface::InterfaceConfiguration state_itfs_cfg;
state_itfs_cfg.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
for (const auto & interface : ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES)
{
state_itfs_cfg.names.push_back(interface);
}
test_controller->set_state_interface_configuration(state_itfs_cfg);
controller_interface::InterfaceConfiguration cmd_itfs_cfg2;
cmd_itfs_cfg2.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto & interface : ros2_control_test_assets::TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES)
{
cmd_itfs_cfg2.names.push_back(interface);
}
test_controller2->set_command_interface_configuration(cmd_itfs_cfg2);
controller_interface::InterfaceConfiguration state_itfs_cfg2;
state_itfs_cfg2.type = controller_interface::interface_configuration_type::ALL;
test_controller2->set_state_interface_configuration(state_itfs_cfg2);
// Check if namespace is set correctly
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller Manager namespace is '%s'",
cm_->get_namespace());
EXPECT_STREQ(cm_->get_namespace(), "/");
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller 1 namespace is '%s'",
test_controller->get_node()->get_namespace());
EXPECT_STREQ(test_controller->get_node()->get_namespace(), "/");
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Controller 2 namespace is '%s'",
test_controller2->get_node()->get_namespace());
EXPECT_STREQ(test_controller2->get_node()->get_namespace(), "/");
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());
// configure controller
rclcpp::Parameter is_async_parameter("is_async", rclcpp::ParameterValue(true));
test_controller->get_node()->set_parameter(is_async_parameter);
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
cm_->configure_controller(TEST_CONTROLLER2_NAME);
}
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is not started";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {"fake_controller", TEST_CONTROLLER2_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(test_param.expected_return, switch_future.get());
}
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller2->internal_counter, test_param.expected_counter);
// Start the real test controller, will take effect at the end of the update function
start_controllers = {test_controller::TEST_CONTROLLER_NAME};
stop_controllers = {};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());
time_ = cm_->get_clock()->now();
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_GE(test_controller->internal_counter, 1u);
auto current_counter = test_controller->internal_counter;
std::this_thread::sleep_for(
std::chrono::milliseconds(1000 / (test_controller->get_update_rate())));
EXPECT_EQ(test_controller->internal_counter, current_counter + 1u);
EXPECT_NEAR(test_controller->update_period_.seconds(), 0.01, 0.008);
const double exp_period = (cm_->get_clock()->now() - time_).seconds();
time_ = cm_->get_clock()->now();
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(test_controller->internal_counter, current_counter + 1u);
std::this_thread::sleep_for(
std::chrono::milliseconds(1000 / (test_controller->get_update_rate())));
EXPECT_EQ(test_controller->internal_counter, current_counter + 2u);
EXPECT_THAT(
test_controller->update_period_.seconds(),
testing::AllOf(testing::Gt(0.6 * exp_period), testing::Lt((1.4 * exp_period))));
size_t last_internal_counter = test_controller->internal_counter;
{
ControllerManagerRunner cm_runner(this);
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
ASSERT_THAT(
test_controller->internal_counter,
testing::AllOf(
testing::Ge(last_internal_counter + cm_->get_update_rate() - 3),
testing::Le(last_internal_counter + cm_->get_update_rate() + 1)))
<< "As the sleep is 1 sec and the controller rate is 100Hz, we should have approx. 100 updates";
// Sleep for 2 cycles to allow for any changes
std::this_thread::sleep_for(std::chrono::milliseconds(20));
last_internal_counter = test_controller->internal_counter;
{
ControllerManagerRunner cm_runner(this);
// Stop controller, will take effect at the end of the update function
start_controllers = {};
stop_controllers = {test_controller::TEST_CONTROLLER_NAME};
switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, test_param.strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::ready, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
std::this_thread::sleep_for(std::chrono::milliseconds(20));
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
EXPECT_EQ(last_internal_counter + 1, test_controller->internal_counter)
<< "Controller is stopped at the end of update, it should finish it's active cycle";
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
auto unload_future = std::async(
std::launch::async, &controller_manager::ControllerManager::unload_controller, cm_,
test_controller::TEST_CONTROLLER_NAME);
ASSERT_EQ(std::future_status::timeout, unload_future.wait_for(std::chrono::milliseconds(100)))
<< "unload_controller should be blocking until next update cycle";
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(controller_interface::return_type::OK, unload_future.get());
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED,
test_controller->get_lifecycle_state().id());
EXPECT_EQ(1, test_controller.use_count());
}
TEST_P(TestControllerManagerWithStrictness, per_controller_update_rate)
{
auto strictness = GetParam().strictness;
auto test_controller = std::make_shared<test_controller::TestController>();
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
EXPECT_EQ(2, test_controller.use_count());
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());
test_controller->get_node()->set_parameter({"update_rate", 4});
// configure controller
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
}
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {test_controller::TEST_CONTROLLER_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());
// As the controller frequency is 4Hz, it needs to pass 25 iterations for 1 update cycle
for (size_t i = 0; i < 25; i++)
{
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
}
EXPECT_GE(test_controller->internal_counter, 1u);
EXPECT_EQ(test_controller->get_update_rate(), 4u);
}
INSTANTIATE_TEST_SUITE_P(
test_strict_best_effort, TestControllerManagerWithStrictness,
testing::Values(strict, best_effort));
class TestControllerManagerWithUpdateRates
: public ControllerManagerFixture<controller_manager::ControllerManager>,
public testing::WithParamInterface<unsigned int>
{
};
TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_update_rate)
{
const auto strictness = controller_manager_msgs::srv::SwitchController::Request::STRICT;
const unsigned int ctrl_update_rate = GetParam();
auto test_controller = std::make_shared<test_controller::TestController>();
auto last_internal_counter = 0u;
RCLCPP_INFO(
rclcpp::get_logger("test_controller_manager"), "Testing update rate : %u Hz", ctrl_update_rate);
{
ControllerManagerRunner cm_runner(this);
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
}
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
EXPECT_EQ(2, test_controller.use_count());
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
<< "Update should not reach an unconfigured controller";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
test_controller->get_lifecycle_state().id());
rclcpp::Parameter update_rate_parameter("update_rate", static_cast<int>(ctrl_update_rate));
test_controller->get_node()->set_parameter(update_rate_parameter);
// configure controller
{
ControllerManagerRunner cm_runner(this);
cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
}
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
<< "Controller is not started";
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
test_controller->get_lifecycle_state().id());
// Start controller, will take effect at the end of the update function
std::vector<std::string> start_controllers = {test_controller::TEST_CONTROLLER_NAME};
std::vector<std::string> stop_controllers = {};
auto switch_future = std::async(
std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,
start_controllers, stop_controllers, strictness, true, rclcpp::Duration(0, 0));
ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
<< "switch_controller should be blocking until next update cycle";
time_ += rclcpp::Duration::from_seconds(0.01);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
<< "Controller is started at the end of update";
{
ControllerManagerRunner cm_runner(this);
EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
}
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());
const auto pre_internal_counter = test_controller->internal_counter;
rclcpp::Rate loop_rate(cm_->get_update_rate());
const auto cm_update_rate = cm_->get_update_rate();
for (size_t i = 0; i < 2 * cm_->get_update_rate(); i++)
{
time_ += rclcpp::Duration::from_seconds(0.01);
EXPECT_EQ(
controller_interface::return_type::OK,
cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
// In case of a non perfect divisor, the update period should respect the rule
// [cm_update_rate, 2*cm_update_rate)
EXPECT_THAT(