controller_node_velocity_tests.cpp File Reference

ControllerNode as the single exit of the velocity command: robot limits for the controller plugins, selection among sources (mux), smoothing, publication, and braking on deactivation. More...

#include <algorithm>
#include <atomic>
#include <chrono>
#include <cmath>
#include <limits>
#include <memory>
#include <optional>
#include <sstream>
#include <string>
#include <vector>
#include "gtest/gtest.h"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "easynav_controller/ControllerNode.hpp"
#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_core/SafetyChannel.hpp"
#include "easynav_core/VelocityCommand.hpp"

Include dependency graph for controller_node_velocity_tests.cpp:

Classes
class	ControllerNodeSafetyChannelTest
class	ControllerNodeVelocityTest

Functions
	TEST_F (ControllerNodeSafetyChannelTest, AProtectiveStopCommandsZeroAtOnceAndResumesFromZero)
	TEST_F (ControllerNodeSafetyChannelTest, AProtectiveStopIsPublishedEvenWithoutCommands)
	TEST_F (ControllerNodeSafetyChannelTest, ASpeedLimitAboveTheRobotLimitsChangesNothing)
	TEST_F (ControllerNodeSafetyChannelTest, ASpeedLimitAlsoCutsReversing)
	TEST_F (ControllerNodeSafetyChannelTest, ASpeedLimitCutsTheLimitsAndIsReachedBraking)
	TEST_F (ControllerNodeSafetyChannelTest, ASpeedLimitOfZeroHoldsTheRobot)
	TEST_F (ControllerNodeSafetyChannelTest, InhibitedMotionBrakesInARampAndResumes)
	TEST_F (ControllerNodeSafetyChannelTest, NewRobotLimitsKeepTheSpeedLimit)
	TEST_F (ControllerNodeSafetyChannelTest, NoSourceMovesTheRobotDuringAProtectiveStop)
	TEST_F (ControllerNodeSafetyChannelTest, ReconfiguringStartsWithoutTheSpeedLimit)
	TEST_F (ControllerNodeVelocityTest, AfterAnOverrideTheRampStartsFromIt)
	TEST_F (ControllerNodeVelocityTest, AtRestARestampedZeroIsNotRepublished)
	TEST_F (ControllerNodeVelocityTest, AtRestTheKeepaliveStillRepublishesTheRestampedZero)
	TEST_F (ControllerNodeVelocityTest, ControllerAskingToStopDeadIsBrakedWithinTheDecelerationLimit)
	TEST_F (ControllerNodeVelocityTest, ControllerPluginsQueryTheRobotLimitsFromTheNode)
	TEST_F (ControllerNodeVelocityTest, DeactivationBrakesInARampAndEndsWithAnExactZero)
	TEST_F (ControllerNodeVelocityTest, DeprecatedLimitsApplyWhenRobotLimitsAreNotConfigured)
	TEST_F (ControllerNodeVelocityTest, DeprecatedLimitsOutsideAControllerNode)
	TEST_F (ControllerNodeVelocityTest, DeprecatedLimitsSurviveReconfiguration)
	TEST_F (ControllerNodeVelocityTest, InvalidRobotLimitsFailToConfigure)
	TEST_F (ControllerNodeVelocityTest, KeepalivePublishesZeroAtRest)
	TEST_F (ControllerNodeVelocityTest, KeepaliveRepublishesTheHeldCommand)
	TEST_F (ControllerNodeVelocityTest, KeepsRampingWithoutNewCommandsAndThenStopsPublishing)
	TEST_F (ControllerNodeVelocityTest, KnowsWhichLimitsWereConfigured)
	TEST_F (ControllerNodeVelocityTest, NegativeOrNonFiniteTimeoutsFailToConfigure)
	TEST_F (ControllerNodeVelocityTest, NoDeprecatedLimitsMeansRobotLimits)
	TEST_F (ControllerNodeVelocityTest, NoNewCommandsBrakesToZeroAfterTheTimeoutAndResumes)
	TEST_F (ControllerNodeVelocityTest, NonFiniteCommandsAreNeverPublished)
	TEST_F (ControllerNodeVelocityTest, OverrideBypassesTheSmoother)
	TEST_F (ControllerNodeVelocityTest, PauseBrakesInARampAndResumeRampsUp)
	TEST_F (ControllerNodeVelocityTest, ProposalsArePrintedInTheNavStateDump)
	TEST_F (ControllerNodeVelocityTest, PublishesTheCommandRampingWithinTheLimits)
	TEST_F (ControllerNodeVelocityTest, ReceiverDetectsThatCommandsStopped)
	TEST_F (ControllerNodeVelocityTest, ReconfigurationStartsWithNoTimeoutState)
	TEST_F (ControllerNodeVelocityTest, ReconfigureRestoresTheConfiguredLimits)
	TEST_F (ControllerNodeVelocityTest, RobotLimitsTakePrecedenceOverDeprecatedOnes)
	TEST_F (ControllerNodeVelocityTest, SetRobotLimitsAppliesToTheSmoother)
	TEST_F (ControllerNodeVelocityTest, TakeoverIsPreferredAndSmoothedThenControlReturns)
	TEST_F (ControllerNodeVelocityTest, TakeoverWinsOverPauseAndOverrideOverEverything)
	TEST_F (ControllerNodeVelocityTest, TheDefaultTimeoutStopsAStaleCommand)
	TEST_F (ControllerNodeVelocityTest, TimeoutMustBeLongerThanTheControllerPeriod)
	TEST_F (ControllerNodeVelocityTest, VelocityQosKeepsOnlyTheLatestCommandAndOffersADeadline)
	TEST_F (ControllerNodeVelocityTest, ZeroVelocityLimitsAreValid)

Detailed Description

ControllerNode as the single exit of the velocity command: robot limits for the controller plugins, selection among sources (mux), smoothing, publication, and braking on deactivation.

Function Documentation

TEST_F() [1/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		AProtectiveStopCommandsZeroAtOnceAndResumesFromZero	)

TEST_F() [2/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		AProtectiveStopIsPublishedEvenWithoutCommands	)

TEST_F() [3/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		ASpeedLimitAboveTheRobotLimitsChangesNothing	)

TEST_F() [4/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		ASpeedLimitAlsoCutsReversing	)

TEST_F() [5/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		ASpeedLimitCutsTheLimitsAndIsReachedBraking	)

TEST_F() [6/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		ASpeedLimitOfZeroHoldsTheRobot	)

TEST_F() [7/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		InhibitedMotionBrakesInARampAndResumes	)

TEST_F() [8/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		NewRobotLimitsKeepTheSpeedLimit	)

TEST_F() [9/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		NoSourceMovesTheRobotDuringAProtectiveStop	)

TEST_F() [10/43]

TEST_F	(	ControllerNodeSafetyChannelTest	,
		ReconfiguringStartsWithoutTheSpeedLimit	)

TEST_F() [11/43]

TEST_F	(	ControllerNodeVelocityTest	,
		AfterAnOverrideTheRampStartsFromIt	)

TEST_F() [12/43]

TEST_F	(	ControllerNodeVelocityTest	,
		AtRestARestampedZeroIsNotRepublished	)

TEST_F() [13/43]

TEST_F	(	ControllerNodeVelocityTest	,
		AtRestTheKeepaliveStillRepublishesTheRestampedZero	)

TEST_F() [14/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ControllerAskingToStopDeadIsBrakedWithinTheDecelerationLimit	)

TEST_F() [15/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ControllerPluginsQueryTheRobotLimitsFromTheNode	)

TEST_F() [16/43]

TEST_F	(	ControllerNodeVelocityTest	,
		DeactivationBrakesInARampAndEndsWithAnExactZero	)

TEST_F() [17/43]

TEST_F	(	ControllerNodeVelocityTest	,
		DeprecatedLimitsApplyWhenRobotLimitsAreNotConfigured	)

TEST_F() [18/43]

TEST_F	(	ControllerNodeVelocityTest	,
		DeprecatedLimitsOutsideAControllerNode	)

TEST_F() [19/43]

TEST_F	(	ControllerNodeVelocityTest	,
		DeprecatedLimitsSurviveReconfiguration	)

TEST_F() [20/43]

TEST_F	(	ControllerNodeVelocityTest	,
		InvalidRobotLimitsFailToConfigure	)

TEST_F() [21/43]

TEST_F	(	ControllerNodeVelocityTest	,
		KeepalivePublishesZeroAtRest	)

TEST_F() [22/43]

TEST_F	(	ControllerNodeVelocityTest	,
		KeepaliveRepublishesTheHeldCommand	)

TEST_F() [23/43]

TEST_F	(	ControllerNodeVelocityTest	,
		KeepsRampingWithoutNewCommandsAndThenStopsPublishing	)

TEST_F() [24/43]

TEST_F	(	ControllerNodeVelocityTest	,
		KnowsWhichLimitsWereConfigured	)

TEST_F() [25/43]

TEST_F	(	ControllerNodeVelocityTest	,
		NegativeOrNonFiniteTimeoutsFailToConfigure	)

TEST_F() [26/43]

TEST_F	(	ControllerNodeVelocityTest	,
		NoDeprecatedLimitsMeansRobotLimits	)

TEST_F() [27/43]

TEST_F	(	ControllerNodeVelocityTest	,
		NoNewCommandsBrakesToZeroAfterTheTimeoutAndResumes	)

TEST_F() [28/43]

TEST_F	(	ControllerNodeVelocityTest	,
		NonFiniteCommandsAreNeverPublished	)

TEST_F() [29/43]

TEST_F	(	ControllerNodeVelocityTest	,
		OverrideBypassesTheSmoother	)

TEST_F() [30/43]

TEST_F	(	ControllerNodeVelocityTest	,
		PauseBrakesInARampAndResumeRampsUp	)

TEST_F() [31/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ProposalsArePrintedInTheNavStateDump	)

TEST_F() [32/43]

TEST_F	(	ControllerNodeVelocityTest	,
		PublishesTheCommandRampingWithinTheLimits	)

TEST_F() [33/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ReceiverDetectsThatCommandsStopped	)

TEST_F() [34/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ReconfigurationStartsWithNoTimeoutState	)

TEST_F() [35/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ReconfigureRestoresTheConfiguredLimits	)

TEST_F() [36/43]

TEST_F	(	ControllerNodeVelocityTest	,
		RobotLimitsTakePrecedenceOverDeprecatedOnes	)

TEST_F() [37/43]

TEST_F	(	ControllerNodeVelocityTest	,
		SetRobotLimitsAppliesToTheSmoother	)

TEST_F() [38/43]

TEST_F	(	ControllerNodeVelocityTest	,
		TakeoverIsPreferredAndSmoothedThenControlReturns	)

TEST_F() [39/43]

TEST_F	(	ControllerNodeVelocityTest	,
		TakeoverWinsOverPauseAndOverrideOverEverything	)

TEST_F() [40/43]

TEST_F	(	ControllerNodeVelocityTest	,
		TheDefaultTimeoutStopsAStaleCommand	)

TEST_F() [41/43]

TEST_F	(	ControllerNodeVelocityTest	,
		TimeoutMustBeLongerThanTheControllerPeriod	)

TEST_F() [42/43]

TEST_F	(	ControllerNodeVelocityTest	,
		VelocityQosKeepsOnlyTheLatestCommandAndOffersADeadline	)

TEST_F() [43/43]

TEST_F	(	ControllerNodeVelocityTest	,
		ZeroVelocityLimitsAreValid	)