faulty_controller_tests.cpp File Reference

How ControllerNode copes with a controller plugin that misbehaves (FaultyController). More...

#include <atomic>
#include <chrono>
#include <cmath>
#include <memory>
#include <optional>
#include <string>
#include <thread>
#include <vector>
#include "gtest/gtest.h"
#include "diagnostic_msgs/msg/diagnostic_status.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 "easynav_controller/ControllerNode.hpp"

Include dependency graph for faulty_controller_tests.cpp:

Classes
class	FaultyControllerTest

Functions
	TEST_F (FaultyControllerTest, ControllerThatFreezesIsStopped)
	TEST_F (FaultyControllerTest, ControllerThatStopsProposingIsStopped)
	TEST_F (FaultyControllerTest, ControllerThatThrowsIsStoppedAndEasyNavSurvives)
	TEST_F (FaultyControllerTest, FaultAfterLetsTheFirstUpdatesThrough)
	TEST_F (FaultyControllerTest, FreezingBeforeAnyCommandNeverMovesTheRobot)
	TEST_F (FaultyControllerTest, HangingControllerIsDetectedByTheReceiverDeadline)
	TEST_F (FaultyControllerTest, HugeCommandsAreClampedToTheRobotLimits)
	TEST_F (FaultyControllerTest, NaNCommandsAreNeverPublishedAndEndInAStop)
	TEST_F (FaultyControllerTest, NoFaultReachesTheCommandedVelocity)
	TEST_F (FaultyControllerTest, NominalAngularVelocityIsCommandedWithinTheLimits)
	TEST_F (FaultyControllerTest, ReconfiguringRestartsTheFaultCount)
	TEST_F (FaultyControllerTest, UnknownFaultFailsToConfigure)

Detailed Description

How ControllerNode copes with a controller plugin that misbehaves (FaultyController).

Function Documentation

TEST_F() [1/12]

TEST_F	(	FaultyControllerTest	,
		ControllerThatFreezesIsStopped	)

TEST_F() [2/12]

TEST_F	(	FaultyControllerTest	,
		ControllerThatStopsProposingIsStopped	)

TEST_F() [3/12]

TEST_F	(	FaultyControllerTest	,
		ControllerThatThrowsIsStoppedAndEasyNavSurvives	)

TEST_F() [4/12]

TEST_F	(	FaultyControllerTest	,
		FaultAfterLetsTheFirstUpdatesThrough	)

TEST_F() [5/12]

TEST_F	(	FaultyControllerTest	,
		FreezingBeforeAnyCommandNeverMovesTheRobot	)

TEST_F() [6/12]

TEST_F	(	FaultyControllerTest	,
		HangingControllerIsDetectedByTheReceiverDeadline	)

TEST_F() [7/12]

TEST_F	(	FaultyControllerTest	,
		HugeCommandsAreClampedToTheRobotLimits	)

TEST_F() [8/12]

TEST_F	(	FaultyControllerTest	,
		NaNCommandsAreNeverPublishedAndEndInAStop	)

TEST_F() [9/12]

TEST_F	(	FaultyControllerTest	,
		NoFaultReachesTheCommandedVelocity	)

TEST_F() [10/12]

TEST_F	(	FaultyControllerTest	,
		NominalAngularVelocityIsCommandedWithinTheLimits	)

TEST_F() [11/12]

TEST_F	(	FaultyControllerTest	,
		ReconfiguringRestartsTheFaultCount	)

TEST_F() [12/12]

TEST_F	(	FaultyControllerTest	,
		UnknownFaultFailsToConfigure	)