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fix_linitng
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@SantoshGovindaraj
SantoshGovindaraj committed Sep 16, 2024
1 parent a5f7bb0 commit 094c1c2
Showing 1 changed file with 30 additions and 12 deletions.
42 changes: 30 additions & 12 deletions controller_manager/test/test_spawner_unspawner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -277,7 +277,8 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -288,7 +289,9 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -304,14 +307,17 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file)
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

TEST_F(TestLoadController, unload_on_kill)
Expand Down Expand Up @@ -688,7 +694,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -699,7 +706,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -715,14 +724,17 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file)
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

TEST_F(
Expand Down Expand Up @@ -770,7 +782,8 @@ TEST_F(
ASSERT_EQ(
ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto chain_ctrl_with_parameters_and_type = cm_->get_loaded_controllers()[1];
ASSERT_EQ(
Expand All @@ -781,7 +794,9 @@ TEST_F(
ASSERT_EQ(
chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);

EXPECT_EQ(
call_spawner(
Expand All @@ -797,12 +812,15 @@ TEST_F(
ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);

auto ctrl_2 = cm_->get_loaded_controllers()[1];
ASSERT_EQ(ctrl_2.info.name, "chainable_ctrl_with_parameters_and_type");
ASSERT_EQ(ctrl_2.info.type, test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
ASSERT_EQ(
ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
ASSERT_EQ(cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
ASSERT_EQ(
cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string(),
test_file_path);
}

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