From 923866c5cf80dd91d606634a0e0fdfae5f82695f Mon Sep 17 00:00:00 2001 From: Manuel M Date: Thu, 21 Dec 2023 09:04:32 +0100 Subject: [PATCH] change rest of component_interface test and mark what should be removed --- .../hardware_interface/actuator_interface.hpp | 6 +- .../include/hardware_interface/handle.hpp | 5 +- .../hardware_interface/sensor_interface.hpp | 3 +- .../hardware_interface/system_interface.hpp | 6 +- .../test/test_component_interfaces.cpp | 1198 ++++++++++++----- .../components_urdfs.hpp | 35 + 6 files changed, 900 insertions(+), 353 deletions(-) diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp index 111cd05f02..4bd788603c 100644 --- a/hardware_interface/include/hardware_interface/actuator_interface.hpp +++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp @@ -157,8 +157,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod { // return empty vector by default. For backward compatibility we check if all vectors is empty // and if so call on_export_state_interfaces() - std::vector state_interfaces; - return state_interfaces; + return {}; } std::vector> on_export_state_interfaces() @@ -195,8 +194,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod { // return empty vector by default. For backward compatibility we check if all vectors is empty // and if so call on_export_command_interfaces() - std::vector command_interfaces; - return command_interfaces; + return {}; } std::vector> on_export_command_interfaces() diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp index e8103df5d1..a91e51f973 100644 --- a/hardware_interface/include/hardware_interface/handle.hpp +++ b/hardware_interface/include/hardware_interface/handle.hpp @@ -93,8 +93,9 @@ class Handle const std::string & get_prefix_name() const { return prefix_name_; } double get_value() const - { // BEGIN (Handle export change): for backward compatibility - // TODO(Manuel) return value_ if old functionality is removed + { + // BEGIN (Handle export change): for backward compatibility + // TODO(Manuel) return value_ if old functionality is removed THROW_ON_NULLPTR(value_ptr_); return *value_ptr_; // END diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp index 239e1b06c1..040b459ffe 100644 --- a/hardware_interface/include/hardware_interface/sensor_interface.hpp +++ b/hardware_interface/include/hardware_interface/sensor_interface.hpp @@ -141,8 +141,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI { // return empty vector by default. For backward compatibility we check if all vectors is empty // and if so call on_export_state_interfaces() - std::vector state_interfaces; - return state_interfaces; + return {}; } std::vector> on_export_state_interfaces() diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp index 601b20a893..c152f16bf7 100644 --- a/hardware_interface/include/hardware_interface/system_interface.hpp +++ b/hardware_interface/include/hardware_interface/system_interface.hpp @@ -176,8 +176,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI { // return empty vector by default. For backward compatibility we check if all vectors is empty // and if so call on_export_state_interfaces() - std::vector state_interfaces; - return state_interfaces; + return {}; } std::vector> on_export_state_interfaces() @@ -227,8 +226,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI { // return empty vector by default. For backward compatibility we check if all vectors is empty // and if so call on_export_command_interfaces() - std::vector command_interfaces; - return command_interfaces; + return {}; } std::vector> on_export_command_interfaces() diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp index 27f13cd202..d5f2aa786f 100644 --- a/hardware_interface/test/test_component_interfaces.cpp +++ b/hardware_interface/test/test_component_interfaces.cpp @@ -51,6 +51,7 @@ namespace test_components { using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn; +// BEGIN (Handle export change): for backward compatibility class DummyActuator : public hardware_interface::ActuatorInterface { CallbackReturn on_init(const hardware_interface::HardwareInfo & /*info*/) override @@ -157,7 +158,96 @@ class DummyActuator : public hardware_interface::ActuatorInterface unsigned int write_calls_ = 0; bool recoverable_error_happened_ = false; }; +// END +class DummyActuatorDefault : public hardware_interface::ActuatorInterface +{ + CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override + { + // We hardcode the info + if ( + hardware_interface::ActuatorInterface::on_init(info) != + hardware_interface::CallbackReturn::SUCCESS) + { + return hardware_interface::CallbackReturn::ERROR; + } + return CallbackReturn::SUCCESS; + } + + CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override + { + set_state("joint1/position", 0.0); + set_state("joint1/velocity", 0.0); + + if (recoverable_error_happened_) + { + set_command("joint1/velocity", 0.0); + } + + read_calls_ = 0; + write_calls_ = 0; + + return CallbackReturn::SUCCESS; + } + + std::string get_name() const override { return "DummyActuatorDefault"; } + + hardware_interface::return_type read( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override + { + ++read_calls_; + if (read_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) + { + return hardware_interface::return_type::ERROR; + } + + // no-op, state is getting propagated within write. + return hardware_interface::return_type::OK; + } + + hardware_interface::return_type write( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override + { + ++write_calls_; + if (write_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) + { + return hardware_interface::return_type::ERROR; + } + auto position_state = get_state("joint1/position"); + set_state("joint1/position", position_state + get_command("joint1/velocity")); + set_state("joint1/velocity", get_command("joint1/velocity")); + + return hardware_interface::return_type::OK; + } + + CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) override + { + set_state("joint1/velocity", 0.0); + return CallbackReturn::SUCCESS; + } + + CallbackReturn on_error(const rclcpp_lifecycle::State & /*previous_state*/) override + { + if (!recoverable_error_happened_) + { + recoverable_error_happened_ = true; + return CallbackReturn::SUCCESS; + } + else + { + return CallbackReturn::ERROR; + } + return CallbackReturn::FAILURE; + } + +private: + // Helper variables to initiate error on read + unsigned int read_calls_ = 0; + unsigned int write_calls_ = 0; + bool recoverable_error_happened_ = false; +}; + +// BEGIN (Handle export change): for backward compatibility class DummySensor : public hardware_interface::SensorInterface { CallbackReturn on_init(const hardware_interface::HardwareInfo & /*info*/) override @@ -221,7 +311,72 @@ class DummySensor : public hardware_interface::SensorInterface int read_calls_ = 0; bool recoverable_error_happened_ = false; }; +// END + +class DummySensorDefault : public hardware_interface::SensorInterface +{ + CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override + { + if ( + hardware_interface::SensorInterface::on_init(info) != + hardware_interface::CallbackReturn::SUCCESS) + { + return hardware_interface::CallbackReturn::ERROR; + } + + // We hardcode the info + return CallbackReturn::SUCCESS; + } + + CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override + { + for (const auto & [name, descr] : sensor_state_interfaces_) + { + set_state(name, 0.0); + } + read_calls_ = 0; + return CallbackReturn::SUCCESS; + } + + std::string get_name() const override { return "DummySensorDefault"; } + + hardware_interface::return_type read( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override + { + ++read_calls_; + if (read_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) + { + return hardware_interface::return_type::ERROR; + } + + // no-op, static value + set_state("joint1/voltage", voltage_level_hw_value_); + return hardware_interface::return_type::OK; + } + + CallbackReturn on_error(const rclcpp_lifecycle::State & /*previous_state*/) override + { + if (!recoverable_error_happened_) + { + recoverable_error_happened_ = true; + return CallbackReturn::SUCCESS; + } + else + { + return CallbackReturn::ERROR; + } + return CallbackReturn::FAILURE; + } + +private: + double voltage_level_hw_value_ = 0x666; + + // Helper variables to initiate error on read + int read_calls_ = 0; + bool recoverable_error_happened_ = false; +}; +// BEGIN (Handle export change): for backward compatibility class DummySystem : public hardware_interface::SystemInterface { CallbackReturn on_init(const hardware_interface::HardwareInfo & /* info */) override @@ -355,21 +510,121 @@ class DummySystem : public hardware_interface::SystemInterface unsigned int write_calls_ = 0; bool recoverable_error_happened_ = false; }; +// END -class DummySystemPreparePerform : public hardware_interface::SystemInterface +class DummySystemDefault : public hardware_interface::SystemInterface { - // Override the pure virtual functions with default behavior - CallbackReturn on_init(const hardware_interface::HardwareInfo & /* info */) override + CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override { + if ( + hardware_interface::SystemInterface::on_init(info) != + hardware_interface::CallbackReturn::SUCCESS) + { + return hardware_interface::CallbackReturn::ERROR; + } // We hardcode the info return CallbackReturn::SUCCESS; } - std::vector export_state_interfaces() override { return {}; } + CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override + { + for (auto i = 0ul; i < 3; ++i) + { + set_state(position_states_[i], 0.0); + set_state(velocity_states_[i], 0.0); + } + // reset command only if error is initiated + if (recoverable_error_happened_) + { + for (auto i = 0ul; i < 3; ++i) + { + set_command(velocity_commands_[i], 0.0); + } + } + + read_calls_ = 0; + write_calls_ = 0; + + return CallbackReturn::SUCCESS; + } + + std::string get_name() const override { return "DummySystemDefault"; } - std::vector export_command_interfaces() override + hardware_interface::return_type read( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override + { + ++read_calls_; + if (read_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) + { + return hardware_interface::return_type::ERROR; + } + + // no-op, state is getting propagated within write. + return hardware_interface::return_type::OK; + } + + hardware_interface::return_type write( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override + { + ++write_calls_; + if (write_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) + { + return hardware_interface::return_type::ERROR; + } + + for (auto i = 0; i < 3; ++i) + { + auto current_pos = get_state(position_states_[i]); + set_state(position_states_[i], current_pos + get_command(velocity_commands_[i])); + set_state(velocity_states_[i], get_command(velocity_commands_[i])); + } + return hardware_interface::return_type::OK; + } + + CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) override + { + for (const auto & velocity_state : velocity_states_) + { + set_state(velocity_state, 0.0); + } + return CallbackReturn::SUCCESS; + } + + CallbackReturn on_error(const rclcpp_lifecycle::State & /*previous_state*/) override + { + if (!recoverable_error_happened_) + { + recoverable_error_happened_ = true; + return CallbackReturn::SUCCESS; + } + else + { + return CallbackReturn::ERROR; + } + return CallbackReturn::FAILURE; + } + +private: + std::vector position_states_ = { + "joint1/position", "joint2/position", "joint3/position"}; + std::vector velocity_states_ = { + "joint1/velocity", "joint2/velocity", "joint3/velocity"}; + std::vector velocity_commands_ = { + "joint1/velocity", "joint2/velocity", "joint3/velocity"}; + + // Helper variables to initiate error on read + unsigned int read_calls_ = 0; + unsigned int write_calls_ = 0; + bool recoverable_error_happened_ = false; +}; + +class DummySystemPreparePerform : public hardware_interface::SystemInterface +{ + // Override the pure virtual functions with default behavior + CallbackReturn on_init(const hardware_interface::HardwareInfo & /* info */) override { - return {}; + // We hardcode the info + return CallbackReturn::SUCCESS; } std::string get_name() const override { return "DummySystemPreparePerform"; } @@ -422,6 +677,7 @@ class DummySystemPreparePerform : public hardware_interface::SystemInterface } // namespace test_components +// BEGIN (Handle export change): for backward compatibility TEST(TestComponentInterfaces, dummy_actuator) { hardware_interface::Actuator actuator_hw(std::make_unique()); @@ -511,12 +767,111 @@ TEST(TestComponentInterfaces, dummy_actuator) EXPECT_EQ( hardware_interface::return_type::OK, actuator_hw.perform_command_mode_switch({""}, {""})); } +// END -TEST(TestComponentInterfaces, dummy_sensor) +TEST(TestComponentInterfaces, dummy_actuator_default) { - hardware_interface::Sensor sensor_hw(std::make_unique()); + hardware_interface::Actuator actuator_hw( + std::make_unique()); + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_dummy_actuator_only + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo dummy_actuator = control_resources[0]; + auto state = actuator_hw.initialize(dummy_actuator); - hardware_interface::HardwareInfo mock_hw_info{}; + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + auto state_interfaces = actuator_hw.on_export_state_interfaces(); + ASSERT_EQ(2u, state_interfaces.size()); + EXPECT_EQ("joint1/position", state_interfaces[0]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name()); + EXPECT_EQ("joint1/velocity", state_interfaces[1]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[1]->get_prefix_name()); + + auto command_interfaces = actuator_hw.on_export_command_interfaces(); + ASSERT_EQ(1u, command_interfaces.size()); + EXPECT_EQ("joint1/velocity", command_interfaces[0]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0]->get_interface_name()); + EXPECT_EQ("joint1", command_interfaces[0]->get_prefix_name()); + + double velocity_value = 1.0; + command_interfaces[0]->set_value(velocity_value); // velocity + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + + // Noting should change because it is UNCONFIGURED + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD)); + + ASSERT_TRUE(std::isnan(state_interfaces[0]->get_value())); // position value + ASSERT_TRUE(std::isnan(state_interfaces[1]->get_value())); // velocity + + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + } + + state = actuator_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::INACTIVE, state.label()); + + // Read and Write are working because it is INACTIVE + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); + + EXPECT_EQ(step * velocity_value, state_interfaces[0]->get_value()); // position value + EXPECT_EQ(step ? velocity_value : 0, state_interfaces[1]->get_value()); // velocity + + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + } + + state = actuator_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + // Read and Write are working because it is ACTIVE + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); + + EXPECT_EQ((10 + step) * velocity_value, state_interfaces[0]->get_value()); // position value + EXPECT_EQ(velocity_value, state_interfaces[1]->get_value()); // velocity + + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + } + + state = actuator_hw.shutdown(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); + + // Noting should change because it is FINALIZED + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD)); + + EXPECT_EQ(20 * velocity_value, state_interfaces[0]->get_value()); // position value + EXPECT_EQ(0, state_interfaces[1]->get_value()); // velocity + + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + } + + EXPECT_EQ( + hardware_interface::return_type::OK, actuator_hw.prepare_command_mode_switch({""}, {""})); + EXPECT_EQ( + hardware_interface::return_type::OK, actuator_hw.perform_command_mode_switch({""}, {""})); +} + +// BEGIN (Handle export change): for backward compatibility +TEST(TestComponentInterfaces, dummy_sensor) +{ + hardware_interface::Sensor sensor_hw(std::make_unique()); + + hardware_interface::HardwareInfo mock_hw_info{}; auto state = sensor_hw.initialize(mock_hw_info); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); @@ -542,7 +897,46 @@ TEST(TestComponentInterfaces, dummy_sensor) sensor_hw.read(TIME, PERIOD); EXPECT_EQ(0x666, state_interfaces[0].get_value()); } +// END + +TEST(TestComponentInterfaces, dummy_sensor_default) +{ + hardware_interface::Sensor sensor_hw(std::make_unique()); + + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_voltage_sensor_only + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0]; + auto state = sensor_hw.initialize(voltage_sensor_res); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + auto state_interfaces = sensor_hw.on_export_state_interfaces(); + ASSERT_EQ(1u, state_interfaces.size()); + EXPECT_EQ("joint1/voltage", state_interfaces[0]->get_name()); + EXPECT_EQ("voltage", state_interfaces[0]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name()); + EXPECT_TRUE(std::isnan(state_interfaces[0]->get_value())); + + // Not updated because is is UNCONFIGURED + sensor_hw.read(TIME, PERIOD); + EXPECT_TRUE(std::isnan(state_interfaces[0]->get_value())); + + // Updated because is is INACTIVE + state = sensor_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::INACTIVE, state.label()); + EXPECT_EQ(0.0, state_interfaces[0]->get_value()); + + // It can read now + sensor_hw.read(TIME, PERIOD); + EXPECT_EQ(0x666, state_interfaces[0]->get_value()); +} +// BEGIN (Handle export change): for backward compatibility TEST(TestComponentInterfaces, dummy_system) { hardware_interface::System system_hw(std::make_unique()); @@ -666,6 +1060,137 @@ TEST(TestComponentInterfaces, dummy_system) EXPECT_EQ(hardware_interface::return_type::OK, system_hw.prepare_command_mode_switch({}, {})); EXPECT_EQ(hardware_interface::return_type::OK, system_hw.perform_command_mode_switch({}, {})); } +// END + +TEST(TestComponentInterfaces, dummy_system_default) +{ + hardware_interface::System system_hw(std::make_unique()); + + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_dummy_system_robot + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo dummy_system = control_resources[0]; + auto state = system_hw.initialize(dummy_system); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + auto state_interfaces = system_hw.on_export_state_interfaces(); + ASSERT_EQ(6u, state_interfaces.size()); + EXPECT_EQ("joint1/position", state_interfaces[0]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name()); + EXPECT_EQ("joint1/velocity", state_interfaces[1]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[1]->get_prefix_name()); + EXPECT_EQ("joint2/position", state_interfaces[2]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[2]->get_interface_name()); + EXPECT_EQ("joint2", state_interfaces[2]->get_prefix_name()); + EXPECT_EQ("joint2/velocity", state_interfaces[3]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[3]->get_interface_name()); + EXPECT_EQ("joint2", state_interfaces[3]->get_prefix_name()); + EXPECT_EQ("joint3/position", state_interfaces[4]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[4]->get_interface_name()); + EXPECT_EQ("joint3", state_interfaces[4]->get_prefix_name()); + EXPECT_EQ("joint3/velocity", state_interfaces[5]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[5]->get_interface_name()); + EXPECT_EQ("joint3", state_interfaces[5]->get_prefix_name()); + + auto command_interfaces = system_hw.on_export_command_interfaces(); + ASSERT_EQ(3u, command_interfaces.size()); + EXPECT_EQ("joint1/velocity", command_interfaces[0]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0]->get_interface_name()); + EXPECT_EQ("joint1", command_interfaces[0]->get_prefix_name()); + EXPECT_EQ("joint2/velocity", command_interfaces[1]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[1]->get_interface_name()); + EXPECT_EQ("joint2", command_interfaces[1]->get_prefix_name()); + EXPECT_EQ("joint3/velocity", command_interfaces[2]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[2]->get_interface_name()); + EXPECT_EQ("joint3", command_interfaces[2]->get_prefix_name()); + + double velocity_value = 1.0; + command_interfaces[0]->set_value(velocity_value); // velocity + command_interfaces[1]->set_value(velocity_value); // velocity + command_interfaces[2]->set_value(velocity_value); // velocity + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD)); + + // Noting should change because it is UNCONFIGURED + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD)); + + ASSERT_TRUE(std::isnan(state_interfaces[0]->get_value())); // position value + ASSERT_TRUE(std::isnan(state_interfaces[1]->get_value())); // velocity + ASSERT_TRUE(std::isnan(state_interfaces[2]->get_value())); // position value + ASSERT_TRUE(std::isnan(state_interfaces[3]->get_value())); // velocity + ASSERT_TRUE(std::isnan(state_interfaces[4]->get_value())); // position value + ASSERT_TRUE(std::isnan(state_interfaces[5]->get_value())); // velocity + + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD)); + } + + state = system_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::INACTIVE, state.label()); + + // Read and Write are working because it is INACTIVE + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + + EXPECT_EQ(step * velocity_value, state_interfaces[0]->get_value()); // position value + EXPECT_EQ(step ? velocity_value : 0, state_interfaces[1]->get_value()); // velocity + EXPECT_EQ(step * velocity_value, state_interfaces[2]->get_value()); // position value + EXPECT_EQ(step ? velocity_value : 0, state_interfaces[3]->get_value()); // velocity + EXPECT_EQ(step * velocity_value, state_interfaces[4]->get_value()); // position value + EXPECT_EQ(step ? velocity_value : 0, state_interfaces[5]->get_value()); // velocity + + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); + } + + state = system_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + // Read and Write are working because it is ACTIVE + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + + EXPECT_EQ((10 + step) * velocity_value, state_interfaces[0]->get_value()); // position value + EXPECT_EQ(velocity_value, state_interfaces[1]->get_value()); // velocity + EXPECT_EQ((10 + step) * velocity_value, state_interfaces[2]->get_value()); // position value + EXPECT_EQ(velocity_value, state_interfaces[3]->get_value()); // velocity + EXPECT_EQ((10 + step) * velocity_value, state_interfaces[4]->get_value()); // position value + EXPECT_EQ(velocity_value, state_interfaces[5]->get_value()); // velocity + + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); + } + + state = system_hw.shutdown(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); + + // Noting should change because it is FINALIZED + for (auto step = 0u; step < 10; ++step) + { + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD)); + + EXPECT_EQ(20 * velocity_value, state_interfaces[0]->get_value()); // position value + EXPECT_EQ(0.0, state_interfaces[1]->get_value()); // velocity + EXPECT_EQ(20 * velocity_value, state_interfaces[2]->get_value()); // position value + EXPECT_EQ(0.0, state_interfaces[3]->get_value()); // velocity + EXPECT_EQ(20 * velocity_value, state_interfaces[4]->get_value()); // position value + EXPECT_EQ(0.0, state_interfaces[5]->get_value()); // velocity + + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD)); + } + + EXPECT_EQ(hardware_interface::return_type::OK, system_hw.prepare_command_mode_switch({}, {})); + EXPECT_EQ(hardware_interface::return_type::OK, system_hw.perform_command_mode_switch({}, {})); +} TEST(TestComponentInterfaces, dummy_command_mode_system) { @@ -698,6 +1223,7 @@ TEST(TestComponentInterfaces, dummy_command_mode_system) system_hw.perform_command_mode_switch(two_keys, one_key)); } +// BEGIN (Handle export change): for backward compatibility TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior) { hardware_interface::Actuator actuator_hw(std::make_unique()); @@ -756,18 +1282,27 @@ TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior) EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); } +// END -TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior) +TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior) { - hardware_interface::Actuator actuator_hw(std::make_unique()); + hardware_interface::Actuator actuator_hw( + std::make_unique()); + + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_dummy_actuator_only + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo dummy_actuator = control_resources[0]; + auto state = actuator_hw.initialize(dummy_actuator); - hardware_interface::HardwareInfo mock_hw_info{}; - auto state = actuator_hw.initialize(mock_hw_info); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); - auto state_interfaces = actuator_hw.export_state_interfaces(); - auto command_interfaces = actuator_hw.export_command_interfaces(); + auto state_interfaces = actuator_hw.on_export_state_interfaces(); + auto command_interfaces = actuator_hw.on_export_command_interfaces(); state = actuator_hw.configure(); state = actuator_hw.activate(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); @@ -779,9 +1314,9 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior) // Initiate error on write (this is first time therefore recoverable) for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) { - ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); } - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD)); state = actuator_hw.get_state(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); @@ -789,8 +1324,8 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior) // activate again and expect reset values state = actuator_hw.configure(); - EXPECT_EQ(state_interfaces[0].get_value(), 0.0); - EXPECT_EQ(command_interfaces[0].get_value(), 0.0); + EXPECT_EQ(state_interfaces[0]->get_value(), 0.0); + EXPECT_EQ(command_interfaces[0]->get_value(), 0.0); state = actuator_hw.activate(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); @@ -802,9 +1337,9 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior) // Initiate error on write (this is the second time therefore unrecoverable) for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) { - ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); } - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD)); state = actuator_hw.get_state(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); @@ -816,17 +1351,145 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior) EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); } -TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior) +// BEGIN (Handle export change): for backward compatibility +TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior) { - hardware_interface::Sensor sensor_hw(std::make_unique()); + hardware_interface::Actuator actuator_hw(std::make_unique()); hardware_interface::HardwareInfo mock_hw_info{}; - auto state = sensor_hw.initialize(mock_hw_info); + auto state = actuator_hw.initialize(mock_hw_info); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); - auto state_interfaces = sensor_hw.export_state_interfaces(); - // Updated because is is INACTIVE - state = sensor_hw.configure(); - state = sensor_hw.activate(); + auto state_interfaces = actuator_hw.export_state_interfaces(); + auto command_interfaces = actuator_hw.export_command_interfaces(); + state = actuator_hw.configure(); + state = actuator_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + + // Initiate error on write (this is first time therefore recoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + + state = actuator_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + // activate again and expect reset values + state = actuator_hw.configure(); + EXPECT_EQ(state_interfaces[0].get_value(), 0.0); + EXPECT_EQ(command_interfaces[0].get_value(), 0.0); + + state = actuator_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + + // Initiate error on write (this is the second time therefore unrecoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + + state = actuator_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); + + // can not change state anymore + state = actuator_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); +} +// END + +TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior) +{ + hardware_interface::Actuator actuator_hw( + std::make_unique()); + + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_dummy_actuator_only + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo dummy_actuator = control_resources[0]; + auto state = actuator_hw.initialize(dummy_actuator); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + auto state_interfaces = actuator_hw.on_export_state_interfaces(); + auto command_interfaces = actuator_hw.on_export_command_interfaces(); + state = actuator_hw.configure(); + state = actuator_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + + // Initiate error on write (this is first time therefore recoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + + state = actuator_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + // activate again and expect reset values + state = actuator_hw.configure(); + EXPECT_EQ(state_interfaces[0]->get_value(), 0.0); + EXPECT_EQ(command_interfaces[0]->get_value(), 0.0); + + state = actuator_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + + // Initiate error on write (this is the second time therefore unrecoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + + state = actuator_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); + + // can not change state anymore + state = actuator_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); +} + +// BEGIN (Handle export change): for backward compatibility +TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior) +{ + hardware_interface::Sensor sensor_hw(std::make_unique()); + + hardware_interface::HardwareInfo mock_hw_info{}; + auto state = sensor_hw.initialize(mock_hw_info); + + auto state_interfaces = sensor_hw.export_state_interfaces(); + // Updated because is is INACTIVE + state = sensor_hw.configure(); + state = sensor_hw.activate(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); @@ -867,7 +1530,67 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior) EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); } +// END + +TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior) +{ + hardware_interface::Sensor sensor_hw(std::make_unique()); + + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_voltage_sensor_only + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0]; + auto state = sensor_hw.initialize(voltage_sensor_res); + + auto state_interfaces = sensor_hw.on_export_state_interfaces(); + // Updated because is is INACTIVE + state = sensor_hw.configure(); + state = sensor_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD)); + + // Initiate recoverable error - call read 99 times OK and on 100-time will return error + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, sensor_hw.read(TIME, PERIOD)); + + state = sensor_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + // activate again and expect reset values + state = sensor_hw.configure(); + EXPECT_EQ(state_interfaces[0]->get_value(), 0.0); + + state = sensor_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + // Initiate unrecoverable error - call read 99 times OK and on 100-time will return error + for (auto i = 1ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, sensor_hw.read(TIME, PERIOD)); + + state = sensor_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); + + // can not change state anymore + state = sensor_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); +} +// BEGIN (Handle export change): for backward compatibility TEST(TestComponentInterfaces, dummy_system_read_error_behavior) { hardware_interface::System system_hw(std::make_unique()); @@ -931,7 +1654,79 @@ TEST(TestComponentInterfaces, dummy_system_read_error_behavior) EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); } +// END + +TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior) +{ + hardware_interface::System system_hw(std::make_unique()); + + const std::string urdf_to_test = + std::string(ros2_control_test_assets::urdf_head) + + ros2_control_test_assets::valid_urdf_ros2_control_dummy_system_robot + + ros2_control_test_assets::urdf_tail; + const std::vector control_resources = + hardware_interface::parse_control_resources_from_urdf(urdf_to_test); + const hardware_interface::HardwareInfo dummy_system = control_resources[0]; + auto state = system_hw.initialize(dummy_system); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + auto state_interfaces = system_hw.on_export_state_interfaces(); + auto command_interfaces = system_hw.on_export_command_interfaces(); + state = system_hw.configure(); + state = system_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); + + // Initiate error on write (this is first time therefore recoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD)); + + state = system_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); + + // activate again and expect reset values + state = system_hw.configure(); + for (auto index = 0ul; index < 6; ++index) + { + EXPECT_EQ(state_interfaces[index]->get_value(), 0.0); + } + for (auto index = 0ul; index < 3; ++index) + { + EXPECT_EQ(command_interfaces[index]->get_value(), 0.0); + } + state = system_hw.activate(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); + + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); + + // Initiate error on write (this is the second time therefore unrecoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + } + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD)); + + state = system_hw.get_state(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); + + // can not change state anymore + state = system_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); +} +// BEGIN (Handle export change): for backward compatibility TEST(TestComponentInterfaces, dummy_system_write_error_behavior) { hardware_interface::System system_hw(std::make_unique()); @@ -995,353 +1790,74 @@ TEST(TestComponentInterfaces, dummy_system_write_error_behavior) EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); } +// END -namespace test_components -{ -class DummySensorDefault : public hardware_interface::SensorInterface +TEST(TestComponentInterfaces, dummy_system_default_write_error_behavior) { - CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override - { - if ( - hardware_interface::SensorInterface::on_init(info) != - hardware_interface::CallbackReturn::SUCCESS) - { - return hardware_interface::CallbackReturn::ERROR; - } - - // We hardcode the info - return CallbackReturn::SUCCESS; - } - - CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override - { - for (const auto & [name, descr] : sensor_state_interfaces_) - { - set_state(name, 0.0); - } - read_calls_ = 0; - return CallbackReturn::SUCCESS; - } - - std::string get_name() const override { return "DummySensorDefault"; } - - hardware_interface::return_type read( - const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override - { - ++read_calls_; - if (read_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) - { - return hardware_interface::return_type::ERROR; - } - - // no-op, static value - set_state("joint1/voltage", voltage_level_hw_value_); - return hardware_interface::return_type::OK; - } - - CallbackReturn on_error(const rclcpp_lifecycle::State & /*previous_state*/) override - { - if (!recoverable_error_happened_) - { - recoverable_error_happened_ = true; - return CallbackReturn::SUCCESS; - } - else - { - return CallbackReturn::ERROR; - } - return CallbackReturn::FAILURE; - } - -private: - double voltage_level_hw_value_ = 0x666; - - // Helper variables to initiate error on read - int read_calls_ = 0; - bool recoverable_error_happened_ = false; -}; -} // namespace test_components - -TEST(TestComponentInterfaces, dummy_sensor_default_interface_export) -{ - hardware_interface::Sensor sensor_hw(std::make_unique()); + hardware_interface::System system_hw(std::make_unique()); const std::string urdf_to_test = std::string(ros2_control_test_assets::urdf_head) + - ros2_control_test_assets::valid_urdf_ros2_control_voltage_sensor_only + + ros2_control_test_assets::valid_urdf_ros2_control_dummy_system_robot + ros2_control_test_assets::urdf_tail; const std::vector control_resources = hardware_interface::parse_control_resources_from_urdf(urdf_to_test); - const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0]; - auto state = sensor_hw.initialize(voltage_sensor_res); + const hardware_interface::HardwareInfo dummy_system = control_resources[0]; + auto state = system_hw.initialize(dummy_system); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); - auto state_interfaces = sensor_hw.on_export_state_interfaces(); - ASSERT_EQ(1u, state_interfaces.size()); - EXPECT_EQ("joint1/voltage", state_interfaces[0]->get_name()); - EXPECT_EQ("voltage", state_interfaces[0]->get_interface_name()); - EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name()); - EXPECT_TRUE(std::isnan(state_interfaces[0]->get_value())); - - // Not updated because is is UNCONFIGURED - sensor_hw.read(TIME, PERIOD); - EXPECT_TRUE(std::isnan(state_interfaces[0]->get_value())); - - // Updated because is is INACTIVE - state = sensor_hw.configure(); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, state.id()); - EXPECT_EQ(hardware_interface::lifecycle_state_names::INACTIVE, state.label()); - EXPECT_EQ(0.0, state_interfaces[0]->get_value()); - - // It can read now - sensor_hw.read(TIME, PERIOD); - EXPECT_EQ(0x666, state_interfaces[0]->get_value()); -} - -TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior) -{ - hardware_interface::Sensor sensor_hw(std::make_unique()); - - const std::string urdf_to_test = - std::string(ros2_control_test_assets::urdf_head) + - ros2_control_test_assets::valid_urdf_ros2_control_voltage_sensor_only + - ros2_control_test_assets::urdf_tail; - const std::vector control_resources = - hardware_interface::parse_control_resources_from_urdf(urdf_to_test); - const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0]; - auto state = sensor_hw.initialize(voltage_sensor_res); - - auto state_interfaces = sensor_hw.on_export_state_interfaces(); - // Updated because is is INACTIVE - state = sensor_hw.configure(); - state = sensor_hw.activate(); + auto state_interfaces = system_hw.on_export_state_interfaces(); + auto command_interfaces = system_hw.on_export_command_interfaces(); + state = system_hw.configure(); + state = system_hw.activate(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); - ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); - // Initiate recoverable error - call read 99 times OK and on 100-time will return error + // Initiate error on write (this is first time therefore recoverable) for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) { - ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); } - ASSERT_EQ(hardware_interface::return_type::ERROR, sensor_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD)); - state = sensor_hw.get_state(); + state = system_hw.get_state(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); // activate again and expect reset values - state = sensor_hw.configure(); - EXPECT_EQ(state_interfaces[0]->get_value(), 0.0); - - state = sensor_hw.activate(); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); - EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); - - // Initiate unrecoverable error - call read 99 times OK and on 100-time will return error - for (auto i = 1ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) - { - ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD)); - } - ASSERT_EQ(hardware_interface::return_type::ERROR, sensor_hw.read(TIME, PERIOD)); - - state = sensor_hw.get_state(); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); - EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); - - // can not change state anymore - state = sensor_hw.configure(); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); - EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); -} - -namespace test_components -{ - -class DummyActuatorDefault : public hardware_interface::ActuatorInterface -{ - CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override - { - // We hardcode the info - if ( - hardware_interface::ActuatorInterface::on_init(info) != - hardware_interface::CallbackReturn::SUCCESS) - { - return hardware_interface::CallbackReturn::ERROR; - } - return CallbackReturn::SUCCESS; - } - - CallbackReturn on_configure(const rclcpp_lifecycle::State & /*previous_state*/) override - { - set_state("joint1/position", 0.0); - set_state("joint1/velocity", 0.0); - - if (recoverable_error_happened_) - { - set_command("joint1/velocity", 0.0); - } - - read_calls_ = 0; - write_calls_ = 0; - - return CallbackReturn::SUCCESS; - } - - std::string get_name() const override { return "DummyActuatorDefault"; } - - hardware_interface::return_type read( - const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override - { - ++read_calls_; - if (read_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) - { - return hardware_interface::return_type::ERROR; - } - - // no-op, state is getting propagated within write. - return hardware_interface::return_type::OK; - } - - hardware_interface::return_type write( - const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override - { - ++write_calls_; - if (write_calls_ == TRIGGER_READ_WRITE_ERROR_CALLS) - { - return hardware_interface::return_type::ERROR; - } - auto position_state = get_state("joint1/position"); - set_state("joint1/position", position_state + get_command("joint1/velocity")); - set_state("joint1/velocity", get_command("joint1/velocity")); - - return hardware_interface::return_type::OK; - } - - CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) override - { - set_state("joint1/velocity", 0.0); - return CallbackReturn::SUCCESS; - } - - CallbackReturn on_error(const rclcpp_lifecycle::State & /*previous_state*/) override - { - if (!recoverable_error_happened_) - { - recoverable_error_happened_ = true; - return CallbackReturn::SUCCESS; - } - else - { - return CallbackReturn::ERROR; - } - return CallbackReturn::FAILURE; - } - -private: - // Helper variables to initiate error on read - unsigned int read_calls_ = 0; - unsigned int write_calls_ = 0; - bool recoverable_error_happened_ = false; -}; - -} // namespace test_components - -TEST(TestComponentInterfaces, dummy_actuator_default) -{ - hardware_interface::Actuator actuator_hw( - std::make_unique()); - const std::string urdf_to_test = - std::string(ros2_control_test_assets::urdf_head) + - ros2_control_test_assets::valid_urdf_ros2_control_dummy_actuator_only + - ros2_control_test_assets::urdf_tail; - const std::vector control_resources = - hardware_interface::parse_control_resources_from_urdf(urdf_to_test); - const hardware_interface::HardwareInfo dummy_actuator = control_resources[0]; - auto state = actuator_hw.initialize(dummy_actuator); - - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id()); - EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label()); - - auto state_interfaces = actuator_hw.on_export_state_interfaces(); - ASSERT_EQ(2u, state_interfaces.size()); - EXPECT_EQ("joint1/position", state_interfaces[0]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0]->get_interface_name()); - EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name()); - EXPECT_EQ("joint1/velocity", state_interfaces[1]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1]->get_interface_name()); - EXPECT_EQ("joint1", state_interfaces[1]->get_prefix_name()); - - auto command_interfaces = actuator_hw.on_export_command_interfaces(); - ASSERT_EQ(1u, command_interfaces.size()); - EXPECT_EQ("joint1/velocity", command_interfaces[0]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0]->get_interface_name()); - EXPECT_EQ("joint1", command_interfaces[0]->get_prefix_name()); - - double velocity_value = 1.0; - command_interfaces[0]->set_value(velocity_value); // velocity - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); - - // Noting should change because it is UNCONFIGURED - for (auto step = 0u; step < 10; ++step) + state = system_hw.configure(); + for (auto index = 0ul; index < 6; ++index) { - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD)); - - ASSERT_TRUE(std::isnan(state_interfaces[0]->get_value())); // position value - ASSERT_TRUE(std::isnan(state_interfaces[1]->get_value())); // velocity - - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); + EXPECT_EQ(state_interfaces[index]->get_value(), 0.0); } - - state = actuator_hw.configure(); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, state.id()); - EXPECT_EQ(hardware_interface::lifecycle_state_names::INACTIVE, state.label()); - - // Read and Write are working because it is INACTIVE - for (auto step = 0u; step < 10; ++step) + for (auto index = 0ul; index < 3; ++index) { - ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); - - EXPECT_EQ(step * velocity_value, state_interfaces[0]->get_value()); // position value - EXPECT_EQ(step ? velocity_value : 0, state_interfaces[1]->get_value()); // velocity - - ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + EXPECT_EQ(command_interfaces[index]->get_value(), 0.0); } - - state = actuator_hw.activate(); + state = system_hw.activate(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::ACTIVE, state.label()); - // Read and Write are working because it is ACTIVE - for (auto step = 0u; step < 10; ++step) - { - ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD)); - - EXPECT_EQ((10 + step) * velocity_value, state_interfaces[0]->get_value()); // position value - EXPECT_EQ(velocity_value, state_interfaces[1]->get_value()); // velocity + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD)); + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); - ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD)); + // Initiate error on write (this is the second time therefore unrecoverable) + for (auto i = 2ul; i < TRIGGER_READ_WRITE_ERROR_CALLS; ++i) + { + ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD)); } + ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD)); - state = actuator_hw.shutdown(); + state = system_hw.get_state(); EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); - // Noting should change because it is FINALIZED - for (auto step = 0u; step < 10; ++step) - { - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD)); - - EXPECT_EQ(20 * velocity_value, state_interfaces[0]->get_value()); // position value - EXPECT_EQ(0, state_interfaces[1]->get_value()); // velocity - - ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD)); - } - - EXPECT_EQ( - hardware_interface::return_type::OK, actuator_hw.prepare_command_mode_switch({""}, {""})); - EXPECT_EQ( - hardware_interface::return_type::OK, actuator_hw.perform_command_mode_switch({""}, {""})); + // can not change state anymore + state = system_hw.configure(); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id()); + EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label()); } diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp index 9e183a24ca..5aa301a9e2 100644 --- a/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp +++ b/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp @@ -438,6 +438,41 @@ const auto valid_urdf_ros2_control_dummy_actuator_only = )"; +const auto valid_urdf_ros2_control_dummy_system_robot = + R"( + + + ros2_control_demo_hardware/RRBotSystemWithGPIOHardware + 2 + 2 + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + +)"; + const auto valid_urdf_ros2_control_parameter_empty = R"(