rclcpp/rclcpp_components/test/test_component_manager_api.cpp

// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <gtest/gtest.h>

#include <memory>
#include <string>

#include "composition_interfaces/srv/load_node.hpp"
#include "composition_interfaces/srv/unload_node.hpp"
#include "composition_interfaces/srv/list_nodes.hpp"

#include "component_manager.hpp"

using namespace std::chrono_literals;

class TestComponentManager : public ::testing::Test
{
protected:
  static void SetUpTestCase()
  {
    rclcpp::init(0, nullptr);
  }
};

TEST_F(TestComponentManager, load_components)
{
  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  auto node = rclcpp::Node::make_shared("test_component_manager");
  auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

  exec->add_node(manager);
  exec->add_node(node);

  auto client = node->create_client<composition_interfaces::srv::LoadNode>(
    "/ComponentManager/_container/load_node");

  if (!client->wait_for_service(20s)) {
    ASSERT_TRUE(false) << "service not available after waiting";
  }

  {
    auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
    request->package_name = "rclcpp_components";
    request->plugin_name = "test_rclcpp_components::TestComponentFoo";

    auto result = client->async_send_request(request);
    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
    EXPECT_EQ(result.get()->success, true);
    EXPECT_EQ(result.get()->error_message, "");
    EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
    EXPECT_EQ(result.get()->unique_id, 1u);
  }

  {
    auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
    request->package_name = "rclcpp_components";
    request->plugin_name = "test_rclcpp_components::TestComponentBar";

    auto result = client->async_send_request(request);
    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
    EXPECT_EQ(result.get()->success, true);
    EXPECT_EQ(result.get()->error_message, "");
    EXPECT_EQ(result.get()->full_node_name, "/test_component_bar");
    EXPECT_EQ(result.get()->unique_id, 2u);
  }

  // Test remapping the node name
  {
    auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
    request->package_name = "rclcpp_components";
    request->plugin_name = "test_rclcpp_components::TestComponentFoo";
    request->node_name = "test_component_baz";

    auto result = client->async_send_request(request);
    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
    EXPECT_EQ(result.get()->success, true);
    EXPECT_EQ(result.get()->error_message, "");
    EXPECT_EQ(result.get()->full_node_name, "/test_component_baz");
    EXPECT_EQ(result.get()->unique_id, 3u);
  }

  // Test remapping the node namespace
  {
    auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
    request->package_name = "rclcpp_components";
    request->plugin_name = "test_rclcpp_components::TestComponentFoo";
    request->node_namespace = "/ns";
    request->node_name = "test_component_bing";

    auto result = client->async_send_request(request);
    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
    EXPECT_EQ(result.get()->success, true);
    EXPECT_EQ(result.get()->error_message, "");
    EXPECT_EQ(result.get()->full_node_name, "/ns/test_component_bing");
    EXPECT_EQ(result.get()->unique_id, 4u);
  }

  auto node_names = node->get_node_names();

  auto find_in_nodes = [node_names](std::string name) {
      return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
    };

  EXPECT_TRUE(find_in_nodes("/test_component_foo"));
  EXPECT_TRUE(find_in_nodes("/test_component_bar"));
  EXPECT_TRUE(find_in_nodes("/test_component_baz"));
  EXPECT_TRUE(find_in_nodes("/ns/test_component_bing"));
}

TEST_F(TestComponentManager, load_invalid_components)
{
  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  auto node = rclcpp::Node::make_shared("test_component_manager");
  auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

  exec->add_node(manager);
  exec->add_node(node);

  auto client = node->create_client<composition_interfaces::srv::LoadNode>(
    "/ComponentManager/_container/load_node");

  if (!client->wait_for_service(20s)) {
    ASSERT_TRUE(false) << "service not available after waiting";
  }

  {
    // Valid package, but invalid class name.
    auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
    request->package_name = "rclcpp_components";
    request->plugin_name = "test_rclcpp_components::TestComponent";

    auto result = client->async_send_request(request);
    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
    EXPECT_EQ(result.get()->success, false);
    EXPECT_EQ(result.get()->error_message, "Failed to find class with the requested plugin name.");
    EXPECT_EQ(result.get()->full_node_name, "");
    EXPECT_EQ(result.get()->unique_id, 0u);
  }

  {
    // Invalid package, but valid class name.
    auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
    request->package_name = "rclcpp_components_foo";
    request->plugin_name = "test_rclcpp_components::TestComponentFoo";

    auto result = client->async_send_request(request);
    auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
    EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
    EXPECT_EQ(result.get()->success, false);
    EXPECT_EQ(result.get()->error_message, "Could not find requested resource in ament index");
    EXPECT_EQ(result.get()->full_node_name, "");
    EXPECT_EQ(result.get()->unique_id, 0u);
  }
}


TEST_F(TestComponentManager, list_components)
{
  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  auto node = rclcpp::Node::make_shared("test_component_manager");
  auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

  exec->add_node(manager);
  exec->add_node(node);

  {
    auto client = node->create_client<composition_interfaces::srv::LoadNode>(
      "/ComponentManager/_container/load_node");

    if (!client->wait_for_service(20s)) {
      ASSERT_TRUE(false) << "service not available after waiting";
    }

    {
      auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
      request->package_name = "rclcpp_components";
      request->plugin_name = "test_rclcpp_components::TestComponentFoo";

      auto result = client->async_send_request(request);
      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
      EXPECT_EQ(result.get()->success, true);
      EXPECT_EQ(result.get()->error_message, "");
      EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
      EXPECT_EQ(result.get()->unique_id, 1u);
    }
  }

  {
    auto client = node->create_client<composition_interfaces::srv::ListNodes>(
      "/ComponentManager/_container/list_nodes");

    if (!client->wait_for_service(20s)) {
      ASSERT_TRUE(false) << "service not available after waiting";
    }

    {
      auto request = std::make_shared<composition_interfaces::srv::ListNodes::Request>();
      auto result = client->async_send_request(request);
      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
      auto node_names = result.get()->full_node_names;
      auto unique_ids = result.get()->unique_ids;

      EXPECT_EQ(node_names.size(), 1u);
      EXPECT_EQ(node_names[0], "/test_component_foo");
      EXPECT_EQ(unique_ids.size(), 1u);
      EXPECT_EQ(unique_ids[0], 1u);
    }
  }
}

TEST_F(TestComponentManager, unload_component)
{
  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
  auto node = rclcpp::Node::make_shared("test_component_manager");
  auto manager = std::make_shared<rclcpp_components::ComponentManager>(exec);

  exec->add_node(manager);
  exec->add_node(node);

  {
    auto client = node->create_client<composition_interfaces::srv::LoadNode>(
      "/ComponentManager/_container/load_node");

    if (!client->wait_for_service(20s)) {
      ASSERT_TRUE(false) << "service not available after waiting";
    }

    {
      auto request = std::make_shared<composition_interfaces::srv::LoadNode::Request>();
      request->package_name = "rclcpp_components";
      request->plugin_name = "test_rclcpp_components::TestComponentFoo";

      auto result = client->async_send_request(request);
      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
      EXPECT_EQ(result.get()->success, true);
      EXPECT_EQ(result.get()->error_message, "");
      EXPECT_EQ(result.get()->full_node_name, "/test_component_foo");
      EXPECT_EQ(result.get()->unique_id, 1u);
    }
  }

  auto node_names = node->get_node_names();
  auto find_in_nodes = [node_names](std::string name) {
      return std::find(node_names.begin(), node_names.end(), name) != node_names.end();
    };
  EXPECT_TRUE(find_in_nodes("/test_component_foo"));

  {
    auto client = node->create_client<composition_interfaces::srv::UnloadNode>(
      "/ComponentManager/_container/unload_node");

    if (!client->wait_for_service(20s)) {
      ASSERT_TRUE(false) << "service not available after waiting";
    }

    {
      auto request = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
      request->unique_id = 1;

      auto result = client->async_send_request(request);
      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
      EXPECT_EQ(result.get()->success, true);
      EXPECT_EQ(result.get()->error_message, "");
    }

    {
      auto request = std::make_shared<composition_interfaces::srv::UnloadNode::Request>();
      request->unique_id = 1;

      auto result = client->async_send_request(request);
      auto ret = exec->spin_until_future_complete(result, 5s);  // Wait for the result.
      EXPECT_EQ(ret, rclcpp::executor::FutureReturnCode::SUCCESS);
      EXPECT_EQ(result.get()->success, false);
      EXPECT_EQ(result.get()->error_message, "No node found with unique_id: 1");
    }
  }
}