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Added parameterized test for spawner.py #1160

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Added parameterized test for spawner.py #1160

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dda8baf
Added parameterized test for spawner.py - not complete yet
Nils-ChristianIseke Nov 9, 2023
db387bb
Merge branch 'ros-controls:master' into ParameterizedTestForContorlle…
Nils-ChristianIseke Nov 9, 2023
ce5cd4a
Replaced unsigned long with int
Nils-ChristianIseke Nov 10, 2023
85a2ba6
Merge branch 'master' into ParameterizedTestForContorllerManagerSpawner
bmagyar Dec 6, 2023
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50 changes: 33 additions & 17 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,9 @@ using ::testing::_;
using ::testing::Return;

using namespace std::chrono_literals;
class TestLoadController : public ControllerManagerFixture<controller_manager::ControllerManager>
class TestLoadController
: public ControllerManagerFixture<controller_manager::ControllerManager>,
public ::testing::WithParamInterface<std::vector<std::variant<std::string, int, char, uint8_t>>>
{
void SetUp() override
{
Expand Down Expand Up @@ -243,22 +245,6 @@ TEST_F(TestLoadController, multi_ctrls_test_type_in_param)
}
}

TEST_F(TestLoadController, spawner_test_type_in_arg)
{
// Provide controller type via -t argument
EXPECT_EQ(
call_spawner(
"ctrl_2 -c test_controller_manager -t " +
std::string(test_controller::TEST_CONTROLLER_CLASS_NAME)),
0);

ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);
auto ctrl_2 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
}

TEST_F(TestLoadController, unload_on_kill)
{
// Launch spawner with unload on kill
Expand All @@ -274,3 +260,33 @@ TEST_F(TestLoadController, unload_on_kill)

ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
}

INSTANTIATE_TEST_SUITE_P(
SpawnerTestParameterizedAllParameters, TestLoadController,
::testing::Values(std::vector<std::variant<std::string, int, char, uint8_t>>{
"ctrl_2 -c test_controller_manager -t " +
std::string(test_controller::TEST_CONTROLLER_CLASS_NAME),
0, 1, "ctrl_2", test_controller::TEST_CONTROLLER_CLASS_NAME,
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE}));

TEST_P(TestLoadController, SpawnerTestAllParameters)
{
auto vector_of_params = GetParam();

std::string call_spawner_argument = std::get<std::string>(vector_of_params[0]);
int call_spawner_return_value = std::get<int>(vector_of_params[1]);
int number_of_loaded_controllers = std::get<int>(vector_of_params[2]);
std::string controller_name = std::get<std::string>(vector_of_params[3]);
std::string controller_class_name = std::get<std::string>(vector_of_params[4]);
static uint8_t lifecycle_state = std::get<uint8_t>(vector_of_params[5]);

EXPECT_EQ(

call_spawner(call_spawner_argument), call_spawner_return_value);

ASSERT_EQ(cm_->get_loaded_controllers().size(), number_of_loaded_controllers);
auto ctrl_2 = cm_->get_loaded_controllers()[0];
ASSERT_EQ(ctrl_2.info.name, controller_name);
ASSERT_EQ(ctrl_2.info.type, controller_class_name);
ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_state);
}
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