Move test_components to own package (backport #1325) (#1340)

* Move `test_components` to own package (#1325)

(cherry picked from commit 0bdcd41)

---------

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>

.github/workflows/ci-coverage-build.yml

@@ -34,6 +34,7 @@ jobs:
             ros2controlcli
             ros2_control
             ros2_control_test_assets
+            hardware_interface_testing
             transmission_interface
 
           vcs-repo-file-url: |

.github/workflows/ci-ros-lint.yml

@@ -24,6 +24,7 @@ jobs:
           controller_manager
           controller_manager_msgs
           hardware_interface
+          hardware_interface_testing
           ros2controlcli
           ros2_control
           ros2_control_test_assets
@@ -49,6 +50,7 @@ jobs:
           controller_manager
           controller_manager_msgs
           hardware_interface
+          hardware_interface_testing
           ros2controlcli
           ros2_control
           ros2_control_test_assets

controller_manager/package.xml

@@ -28,6 +28,8 @@
   <depend>std_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

hardware_interface/CMakeLists.txt

@@ -138,19 +138,6 @@ if(BUILD_TESTING)
   target_link_libraries(test_component_parser ${PROJECT_NAME})
   ament_target_dependencies(test_component_parser ros2_control_test_assets)
 
-  add_library(test_components SHARED
-    test/test_components/test_actuator.cpp
-    test/test_components/test_sensor.cpp
-    test/test_components/test_system.cpp)
-  target_link_libraries(test_components ${PROJECT_NAME})
-  ament_target_dependencies(test_components
-    pluginlib)
-  install(TARGETS test_components
-    DESTINATION lib
-  )
-  pluginlib_export_plugin_description_file(
-    ${PROJECT_NAME} test/test_components/test_components.xml)
-
   add_library(test_hardware_components SHARED
   test/test_hardware_components/test_single_joint_actuator.cpp
   test/test_hardware_components/test_force_torque_sensor.cpp
@@ -166,15 +153,6 @@ if(BUILD_TESTING)
   pluginlib_export_plugin_description_file(
     ${PROJECT_NAME} test/test_hardware_components/test_hardware_components.xml
   )
-
-  ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
-  target_link_libraries(test_resource_manager ${PROJECT_NAME})
-  ament_target_dependencies(test_resource_manager ros2_control_test_assets)
-
-  ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
-  target_link_libraries(test_resource_manager_prepare_perform_switch hardware_interface)
-  ament_target_dependencies(test_resource_manager_prepare_perform_switch ros2_control_test_assets)
-
   ament_add_gmock(test_generic_system test/mock_components/test_generic_system.cpp)
   target_include_directories(test_generic_system PRIVATE include)
   target_link_libraries(test_generic_system ${PROJECT_NAME})

hardware_interface_testing/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.16)
+project(hardware_interface_testing LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  hardware_interface
+  lifecycle_msgs
+  pluginlib
+  rclcpp_lifecycle
+  ros2_control_test_assets
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(test_components SHARED
+  test/test_components/test_actuator.cpp
+  test/test_components/test_sensor.cpp
+  test/test_components/test_system.cpp
+)
+ament_target_dependencies(test_components hardware_interface pluginlib ros2_control_test_assets)
+install(TARGETS test_components
+  DESTINATION lib
+)
+pluginlib_export_plugin_description_file(
+hardware_interface test/test_components/test_components.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+
+  ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
+  ament_target_dependencies(test_resource_manager hardware_interface ros2_control_test_assets)
+
+  ament_add_gmock(test_resource_manager_prepare_perform_switch test/test_resource_manager_prepare_perform_switch.cpp)
+  ament_target_dependencies(test_resource_manager_prepare_perform_switch hardware_interface ros2_control_test_assets)
+
+endif()
+
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

hardware_interface_testing/README.md

@@ -0,0 +1,4 @@
+# hardware_interface_testing
+
+This package contains a set of hardware interfaces and controllers that can be used for other
+packages to test their functionality.

hardware_interface_testing/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>hardware_interface_testing</name>
+  <version>0.0.0</version>
+  <description>ros2_control hardware interface testing</description>
+  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
+  <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>control_msgs</depend>
+  <depend>hardware_interface</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>ros2_control_test_assets</depend>
+
+  <test_depend>ament_cmake_gmock</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

hardware_interface/test/test_resource_manager.cpp → hardware_interface_testing/test/test_resource_manager.cpp

@@ -232,73 +232,73 @@ TEST_F(ResourceManagerTest, resource_claiming)
   // Activate components to get all interfaces available
   activate_components(rm);
 
-  const auto key = "joint1/position";
-  EXPECT_TRUE(rm.command_interface_is_available(key));
-  EXPECT_FALSE(rm.command_interface_is_claimed(key));
+  const auto command_interface = "joint1/position";
+  EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+  EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));
 
   {
-    auto position_command_interface = rm.claim_command_interface(key);
-    EXPECT_TRUE(rm.command_interface_is_available(key));
-    EXPECT_TRUE(rm.command_interface_is_claimed(key));
+    auto position_command_interface = rm.claim_command_interface(command_interface);
+    EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+    EXPECT_TRUE(rm.command_interface_is_claimed(command_interface));
     {
-      EXPECT_ANY_THROW(rm.claim_command_interface(key));
-      EXPECT_TRUE(rm.command_interface_is_available(key));
+      EXPECT_ANY_THROW(rm.claim_command_interface(command_interface));
+      EXPECT_TRUE(rm.command_interface_is_available(command_interface));
     }
   }
-  EXPECT_TRUE(rm.command_interface_is_available(key));
-  EXPECT_FALSE(rm.command_interface_is_claimed(key));
+  EXPECT_TRUE(rm.command_interface_is_available(command_interface));
+  EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));
 
   // command interfaces can only be claimed once
-  for (const auto & key :
+  for (const auto & interface_key :
        {"joint1/position", "joint1/position", "joint1/position", "joint2/velocity",
         "joint3/velocity"})
   {
     {
-      auto interface = rm.claim_command_interface(key);
-      EXPECT_TRUE(rm.command_interface_is_available(key));
-      EXPECT_TRUE(rm.command_interface_is_claimed(key));
+      auto interface = rm.claim_command_interface(interface_key);
+      EXPECT_TRUE(rm.command_interface_is_available(interface_key));
+      EXPECT_TRUE(rm.command_interface_is_claimed(interface_key));
       {
-        EXPECT_ANY_THROW(rm.claim_command_interface(key));
-        EXPECT_TRUE(rm.command_interface_is_available(key));
+        EXPECT_ANY_THROW(rm.claim_command_interface(interface_key));
+        EXPECT_TRUE(rm.command_interface_is_available(interface_key));
       }
     }
-    EXPECT_TRUE(rm.command_interface_is_available(key));
-    EXPECT_FALSE(rm.command_interface_is_claimed(key));
+    EXPECT_TRUE(rm.command_interface_is_available(interface_key));
+    EXPECT_FALSE(rm.command_interface_is_claimed(interface_key));
   }
 
   // TODO(destogl): This claim test is not true.... can not be...
   // state interfaces can be claimed multiple times
-  for (const auto & key :
+  for (const auto & interface_key :
        {"joint1/position", "joint1/velocity", "sensor1/velocity", "joint2/position",
         "joint3/position"})
   {
     {
-      EXPECT_TRUE(rm.state_interface_is_available(key));
-      auto interface = rm.claim_state_interface(key);
+      EXPECT_TRUE(rm.state_interface_is_available(interface_key));
+      auto interface = rm.claim_state_interface(interface_key);
       {
-        EXPECT_TRUE(rm.state_interface_is_available(key));
-        EXPECT_NO_THROW(rm.claim_state_interface(key));
+        EXPECT_TRUE(rm.state_interface_is_available(interface_key));
+        EXPECT_NO_THROW(rm.claim_state_interface(interface_key));
       }
     }
   }
 
   std::vector<hardware_interface::LoanedCommandInterface> interfaces;
   const auto interface_names = {"joint1/position", "joint2/velocity", "joint3/velocity"};
-  for (const auto & key : interface_names)
+  for (const auto & interface : interface_names)
   {
-    EXPECT_TRUE(rm.command_interface_is_available(key));
-    interfaces.emplace_back(rm.claim_command_interface(key));
+    EXPECT_TRUE(rm.command_interface_is_available(interface));
+    interfaces.emplace_back(rm.claim_command_interface(interface));
   }
-  for (const auto & key : interface_names)
+  for (const auto & interface : interface_names)
   {
-    EXPECT_TRUE(rm.command_interface_is_available(key));
-    EXPECT_TRUE(rm.command_interface_is_claimed(key));
+    EXPECT_TRUE(rm.command_interface_is_available(interface));
+    EXPECT_TRUE(rm.command_interface_is_claimed(interface));
   }
   interfaces.clear();
-  for (const auto & key : interface_names)
+  for (const auto & interface : interface_names)
   {
-    EXPECT_TRUE(rm.command_interface_is_available(key));
-    EXPECT_FALSE(rm.command_interface_is_claimed(key));
+    EXPECT_TRUE(rm.command_interface_is_available(interface));
+    EXPECT_FALSE(rm.command_interface_is_claimed(interface));
   }
 }