test_controller_manager_plugin.cpp

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#include <vector>
 
#include <gtest/gtest.h>
 
#include <controller_manager_msgs/srv/detail/list_controllers__struct.hpp>
#include <controller_manager_msgs/srv/detail/switch_controller__struct.hpp>
#include <eigen3/Eigen/Eigen>
#include <moveit/controller_manager/controller_manager.h>
#include <pluginlib/class_loader.hpp>
 
class MockControllersManagerService final : public rclcpp::Node
{
public:
  MockControllersManagerService() : Node("list_controllers_service")
  {
    list_controller_service_ = create_service<controller_manager_msgs::srv::ListControllers>(
        "controller_manager/list_controllers",
        [this](const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Request>& request,
               const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Response>& response) {
          handleListControllersService(request, response);
        });
    switch_controller_service_ = create_service<controller_manager_msgs::srv::SwitchController>(
        "controller_manager/switch_controller",
        [this](const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Request>& request,
               const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Response>& response) {
          handleSwitchControllerService(request, response);
        });
  }
 
  controller_manager_msgs::srv::SwitchController::Request last_request;
 
private:
  void handleListControllersService(
      const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Request>& /*request*/,
      const std::shared_ptr<controller_manager_msgs::srv::ListControllers::Response>& response)
  {
    controller_manager_msgs::msg::ChainConnection chain_connection_a;
    chain_connection_a.name = "B";
    chain_connection_a.reference_interfaces = { "ref_1", "ref_2", "ref_3" };
    controller_manager_msgs::msg::ControllerState controller_a;
    controller_a.chain_connections.push_back(chain_connection_a);
    controller_a.name = "A";
    controller_a.is_chained = true;
    controller_a.required_command_interfaces = { "jnt_1", "jnt_2", "jnt_3" };
    controller_a.type = "joint_trajectory_controller/JointTrajectoryController";
    controller_a.state = activate_set_.find(controller_a.name) != activate_set_.end() ? "active" : "inactive";
 
    controller_manager_msgs::msg::ControllerState controller_b;
    controller_b.name = "B";
    controller_b.required_command_interfaces = { "jnt_4", "jnt_5" };
    controller_b.reference_interfaces = { "ref_1", "ref_2", "ref_3" };
    controller_b.type = "joint_trajectory_controller/JointTrajectoryController";
    controller_b.state = activate_set_.find(controller_b.name) != activate_set_.end() ? "active" : "inactive";
 
    response->controller = { controller_a, controller_b };
  }
 
  void handleSwitchControllerService(
      const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Request>& request,
      const std::shared_ptr<controller_manager_msgs::srv::SwitchController::Response>& response)
  {
    last_request = *request;
    for (const auto& deactivate : request->deactivate_controllers)
    {
      activate_set_.erase(deactivate);
    }
    for (const auto& activate : request->activate_controllers)
    {
      activate_set_.insert(activate);
    }
    response->ok = true;
  }
 
  std::unordered_set<std::string> activate_set_;
  rclcpp::Service<controller_manager_msgs::srv::ListControllers>::SharedPtr list_controller_service_;
  rclcpp::Service<controller_manager_msgs::srv::SwitchController>::SharedPtr switch_controller_service_;
};
 
TEST(ControllerManagerPlugin, SwitchControllers)
{
  // GIVEN a ClassLoader for MoveItControllerManager
  pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> loader(
      "moveit_core", "moveit_controller_manager::MoveItControllerManager");
 
  // WHEN we load the custom plugin defined in this package
  // THEN loading succeeds
  auto instance = loader.createUniqueInstance("moveit_ros_control_interface/Ros2ControlManager");
 
  const auto mock_service = std::make_shared<MockControllersManagerService>();
  rclcpp::executors::SingleThreadedExecutor executor;
  std::thread ros_thread([&executor, &mock_service]() {
    executor.add_node(mock_service);
    executor.spin();
  });
  instance->initialize(mock_service);
 
  // A and B should start
  instance->switchControllers({ "/A" }, {});
  EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "A", "B" }));
  EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({}));
  // A and B should stop
  instance->switchControllers({}, { "/B" });
  EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({}));
  EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({ "A", "B" }));
  // Only B should start
  instance->switchControllers({ "/B" }, {});
  EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "B" }));
  EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({}));
  // Only B should stop
  instance->switchControllers({}, { "/B" });
  EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({}));
  EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({ "B" }));
  // Multiple activations results in only 1
  instance->switchControllers({ "/B", "/B", "/B", "/B" }, {});
  EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "B" }));
  EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({}));
  instance->switchControllers({}, { "/B" });
  // Multiple activation and deactivate of same controller results in empty list
  instance->switchControllers({ "/B", "/A" }, { "/A", "/A", "/A" });
  EXPECT_EQ(mock_service->last_request.activate_controllers, std::vector<std::string>({ "B" }));
  EXPECT_EQ(mock_service->last_request.deactivate_controllers, std::vector<std::string>({}));
 
  executor.cancel();
  ros_thread.join();
}
 
TEST(ControllerManagerPlugin, LoadMoveItControllerManagerPlugin)
{
  // GIVEN a ClassLoader for MoveItControllerManager
  pluginlib::ClassLoader<moveit_controller_manager::MoveItControllerManager> loader(
      "moveit_core", "moveit_controller_manager::MoveItControllerManager");
 
  // WHEN we load the custom plugin defined in this package
  // THEN loading succeeds
  EXPECT_NO_THROW(loader.createUniqueInstance("moveit_ros_control_interface/Ros2ControlManager"));
}
 
int main(int argc, char** argv)
{
  ::testing::InitGoogleTest(&argc, argv);
  rclcpp::init(argc, argv);
  const int result = RUN_ALL_TESTS();
  rclcpp::shutdown();
  return result;
}