From 005a79fb7b961d3237e1b02b3edf0521ed866b61 Mon Sep 17 00:00:00 2001 From: Takashi Sato Date: Wed, 26 Jun 2024 15:43:39 +0900 Subject: [PATCH] remove TEST_BUG definition --- ...llers_chaining_with_controller_manager.cpp | 27 +++---------------- 1 file changed, 3 insertions(+), 24 deletions(-) diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp index b47f699240..e7517a0335 100644 --- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp +++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp @@ -12,10 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -#define TEST_BUG1 -#define TEST_BUG2 -#define TEST_BUG3 - #include #include #include @@ -786,15 +782,10 @@ TEST_P( ASSERT_EQ( lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, diff_drive_controller->get_state().id()); - // !---- ---- -#ifdef TEST_BUG1 // Check if the controllers are not in chained mode - ASSERT_FALSE(pid_left_wheel_controller - ->is_in_chained_mode()); // !BUG: should be not in chained mode but is in + ASSERT_FALSE(pid_left_wheel_controller->is_in_chained_mode()); ASSERT_FALSE(pid_right_wheel_controller->is_in_chained_mode()); ASSERT_FALSE(diff_drive_controller->is_in_chained_mode()); -#endif - // !---- ---- } TEST_P( @@ -832,8 +823,6 @@ TEST_P( EXPECT_FALSE(pid_right_wheel_controller->is_in_chained_mode()); ASSERT_FALSE(diff_drive_controller->is_in_chained_mode()); - // !---- ---- -#ifdef TEST_BUG2 // Test Case: Trying to activate a preceding controller and one of the following controller // --> return error; preceding controller are not activated, // BUT following controller IS activated @@ -866,12 +855,9 @@ TEST_P( position_tracking_controller->get_state().id()); // Check if the controllers are not in chained mode - ASSERT_FALSE(pid_left_wheel_controller - ->is_in_chained_mode()); // !BUG: should be not in chained mode but is in + ASSERT_FALSE(pid_left_wheel_controller->is_in_chained_mode()); ASSERT_FALSE(pid_right_wheel_controller->is_in_chained_mode()); ASSERT_FALSE(diff_drive_controller->is_in_chained_mode()); -#endif - // !---- ---- } TEST_P( @@ -1075,8 +1061,6 @@ TEST_P( ASSERT_EQ( lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, diff_drive_controller->get_state().id()); - // !---- ---- -#ifdef TEST_BUG3 // Test Case: middle preceding/following controller deactivation but the most preceding and the // lowest following controllers are active // --> return error; controllers stay in the same state as they were @@ -1100,10 +1084,7 @@ TEST_P( // Attempt to deactivate the middle preceding/following controller switch_test_controllers( {}, {DIFF_DRIVE_CONTROLLER}, test_param.strictness, std::future_status::ready, - expected.at(test_param.strictness) - .return_type); // !BUG: If BEST_EFFORT, all controllers should stay the same state as they - // were, but a deadlock may occur during the switch_controller process, - // causing the test to timeout. + expected.at(test_param.strictness).return_type); // All controllers should still be active ASSERT_EQ( @@ -1115,8 +1096,6 @@ TEST_P( ASSERT_EQ( lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, position_tracking_controller->get_state().id()); -#endif - // !---- ---- } TEST_P(TestControllerChainingWithControllerManager, test_chained_controllers_adding_in_random_order)