test controller refactor

husarion · Jan 26, 2024 · 8292503 · 8292503
1 parent bfc344d
commit 8292503
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Showing 6 changed files with 35 additions and 142 deletions.
diff --git a/rosbot_xl_controller/test/test_diff_drive_controllers.py b/rosbot_xl_controller/test/test_diff_drive_controllers.py
@@ -25,7 +25,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from test_utils import ControllersTestNode
+from test_utils import ControllersTestNode, controller_test
 
 
 @launch_pytest.fixture
@@ -82,25 +82,13 @@ def test_controllers_startup_fail():
 
 
 @pytest.mark.launch(fixture=generate_test_description)
-def test_controllers_startup_success():
+def test_controllers_startup():
     rclpy.init()
     try:
-        node = ControllersTestNode("test_controllers_startup_success")
+        node = ControllersTestNode("test_controllers_startup")
         node.create_test_subscribers_and_publishers()
         node.start_publishing_fake_hardware()
-
         node.start_node_thread()
-        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!"
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Odom message but it was not received. Check rosbot_xl_base_controller!"
-        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Imu message but it was not received. Check imu_broadcaster!"
+        controller_test(node)
     finally:
         rclpy.shutdown()
diff --git a/rosbot_xl_controller/test/test_mecanum_controllers.py b/rosbot_xl_controller/test/test_mecanum_controllers.py
@@ -25,7 +25,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from test_utils import ControllersTestNode
+from test_utils import ControllersTestNode, controller_test
 
 
 @launch_pytest.fixture
@@ -82,25 +82,13 @@ def test_controllers_startup_fail():
 
 
 @pytest.mark.launch(fixture=generate_test_description)
-def test_controllers_startup_success():
+def test_controllers_startup():
     rclpy.init()
     try:
-        node = ControllersTestNode("test_controllers_startup_success")
+        node = ControllersTestNode("test_controllers_startup")
         node.create_test_subscribers_and_publishers()
         node.start_publishing_fake_hardware()
-
         node.start_node_thread()
-        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!"
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Odom message but it was not received. Check rosbot_xl_base_controller!"
-        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Imu message but it was not received. Check imu_broadcaster!"
+        controller_test(node)
     finally:
         rclpy.shutdown()
diff --git a/rosbot_xl_controller/test/test_multirobot_controllers.py b/rosbot_xl_controller/test/test_multirobot_controllers.py
@@ -25,7 +25,7 @@
 from launch.actions import IncludeLaunchDescription, TimerAction
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from test_utils import ControllersTestNode
+from test_utils import ControllersTestNode, controller_test
 
 robot_names = ["rosbot_xl1", "rosbot_xl2", "rosbot_xl3"]
 
@@ -71,21 +71,7 @@ def test_multirobot_controllers_startup_success():
             node = ControllersTestNode(f"test_{robot_name}_controllers", namespace=robot_name)
             node.create_test_subscribers_and_publishers()
             node.start_publishing_fake_hardware()
-
             node.start_node_thread()
-            msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-            assert msgs_received_flag, (
-                f"Expected JointStates message but it was not received. Check {robot_name}/"
-                "joint_state_broadcaster!"
-            )
-            msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-            assert msgs_received_flag, (
-                f"Expected Odom message but it was not received. Check {robot_name}/"
-                "rosbot_xl_base_controller!"
-            )
-            msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-            assert (
-                msgs_received_flag
-            ), f"Expected Imu message but it was not received. Check {robot_name}/imu_broadcaster!"
+            controller_test(node, robot_name)
         finally:
             rclpy.shutdown()
diff --git a/rosbot_xl_controller/test/test_namespaced_diff_drive_controllers.py b/rosbot_xl_controller/test/test_namespaced_diff_drive_controllers.py
@@ -25,7 +25,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from test_utils import ControllersTestNode
+from test_utils import ControllersTestNode, controller_test
 
 
 @launch_pytest.fixture
@@ -56,56 +56,13 @@ def generate_test_description():
 
 
 @pytest.mark.launch(fixture=generate_test_description)
-def test_namespaced_controllers_startup_fail():
+def test_namespaced_controllers_startup():
     rclpy.init()
     try:
-        node = ControllersTestNode(
-            "test_namespaced_controllers_startup_fail", namespace="rosbot_xl"
-        )
-        node.create_test_subscribers_and_publishers()
-
-        node.start_node_thread()
-        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, (
-            "Received JointStates message that should not have appeared. Check whether other"
-            " robots are connected to your network.!"
-        )
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, (
-            "Received Odom message that should not have appeared. Check whether other robots are"
-            " connected to your network.!"
-        )
-        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, (
-            "Received Imu message that should not have appeared. Check whether other robots are"
-            " connected to your network.!"
-        )
-    finally:
-        rclpy.shutdown()
-
-
-@pytest.mark.launch(fixture=generate_test_description)
-def test_namespaced_controllers_startup_success():
-    rclpy.init()
-    try:
-        node = ControllersTestNode(
-            "test_namespaced_controllers_startup_success", namespace="rosbot_xl"
-        )
+        node = ControllersTestNode("test_namespaced_controllers_startup", namespace="rosbot_xl")
         node.create_test_subscribers_and_publishers()
         node.start_publishing_fake_hardware()
-
         node.start_node_thread()
-        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!"
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Odom message but it was not received. Check rosbot_xl_base_controller!"
-        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Imu message but it was not received. Check imu_broadcaster!"
+        controller_test(node)
     finally:
         rclpy.shutdown()
diff --git a/rosbot_xl_controller/test/test_namespaced_mecanum_controllers.py b/rosbot_xl_controller/test/test_namespaced_mecanum_controllers.py
@@ -25,7 +25,7 @@
 from launch.actions import IncludeLaunchDescription
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from test_utils import ControllersTestNode
+from test_utils import ControllersTestNode, controller_test
 
 
 @launch_pytest.fixture
@@ -56,56 +56,13 @@ def generate_test_description():
 
 
 @pytest.mark.launch(fixture=generate_test_description)
-def test_namespaced_controllers_startup_fail():
+def test_namespaced_controllers_startup():
     rclpy.init()
     try:
-        node = ControllersTestNode(
-            "test_namespaced_controllers_startup_fail", namespace="rosbot_xl"
-        )
-        node.create_test_subscribers_and_publishers()
-
-        node.start_node_thread()
-        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, (
-            "Received JointStates message that should not have appeared. Check whether other"
-            " robots are connected to your network.!"
-        )
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, (
-            "Received Odom message that should not have appeared. Check whether other robots are"
-            " connected to your network.!"
-        )
-        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, (
-            "Received Imu message that should not have appeared. Check whether other robots are"
-            " connected to your network.!"
-        )
-    finally:
-        rclpy.shutdown()
-
-
-@pytest.mark.launch(fixture=generate_test_description)
-def test_namespaced_controllers_startup_success():
-    rclpy.init()
-    try:
-        node = ControllersTestNode(
-            "test_namespaced_controllers_startup_success", namespace="rosbot_xl"
-        )
+        node = ControllersTestNode("test_namespaced_controllers_startup", namespace="rosbot_xl")
         node.create_test_subscribers_and_publishers()
         node.start_publishing_fake_hardware()
-
         node.start_node_thread()
-        msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected JointStates message but it was not received. Check joint_state_broadcaster!"
-        msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Odom message but it was not received. Check rosbot_xl_base_controller!"
-        msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
-        assert (
-            msgs_received_flag
-        ), "Expected Imu message but it was not received. Check imu_broadcaster!"
+        controller_test(node)
     finally:
         rclpy.shutdown()
diff --git a/rosbot_xl_controller/test/test_utils.py b/rosbot_xl_controller/test/test_utils.py
@@ -91,3 +91,20 @@ def publish_fake_hardware_messages(self):
 
         self.imu_publisher.publish(imu_msg)
         self.joint_states_publisher.publish(joint_state_msg)
+
+
+def controller_test(node, robot_name="ROSbot"):
+    msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
+    assert msgs_received_flag, (
+        f"{robot_name}: Expected JointStates message but it was not received. Check "
+        "joint_state_broadcaster!"
+    )
+    msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
+    assert msgs_received_flag, (
+        f"{robot_name}: Expected Odom message but it was not received. Check "
+        "rosbot_xl_base_controller!"
+    )
+    msgs_received_flag = node.imu_msg_event.wait(timeout=10.0)
+    assert (
+        msgs_received_flag
+    ), f"{robot_name}: Expected Imu message but it was not received. Check imu_broadcaster!"