From 40d47f3b32aee93e1b555e77c48080e0a998cc09 Mon Sep 17 00:00:00 2001
From: Guillaume Walck <guihome@wanadoo.fr>
Date: Mon, 3 Apr 2023 12:08:16 +0200
Subject: [PATCH] Split tests for init and config missing params

---
 .../test/test_admittance_controller.cpp       | 38 ++++++++++---------
 .../test/test_admittance_controller.hpp       |  5 +++
 2 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp
index cb868bd812..69d114dee8 100644
--- a/admittance_controller/test/test_admittance_controller.cpp
+++ b/admittance_controller/test/test_admittance_controller.cpp
@@ -21,30 +21,34 @@
 #include <utility>
 #include <vector>
 
-// Test on_configure returns ERROR when a required parameter is missing
-TEST_P(AdmittanceControllerTestParameterizedMissingParameters, one_parameter_is_missing)
+// Test on_init returns ERROR when a required parameter is missing
+TEST_P(AdmittanceControllerTestParameterizedMissingParameters, one_control_parameter_is_missing)
 {
-  auto ret = SetUpController(GetParam());
-  // additionally, test params required during configure only if init worked
-  if (ret == controller_interface::return_type::OK)
-  {
-    ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_FAILURE);
-  }
-  else
-  {
-    ASSERT_EQ(ret, controller_interface::return_type::ERROR);
-  }
+  ASSERT_EQ(SetUpController(GetParam()), controller_interface::return_type::ERROR);
 }
 
 INSTANTIATE_TEST_SUITE_P(
-  MissingMandatoryParameterDuringConfiguration,
-  AdmittanceControllerTestParameterizedMissingParameters,
+  MissingMandatoryParameterDuringInit, AdmittanceControllerTestParameterizedMissingParameters,
   ::testing::Values(
     "admittance.mass", "admittance.selected_axes", "admittance.stiffness",
     "chainable_command_interfaces", "command_interfaces", "control.frame.id", "ft_sensor.frame.id",
-    "ft_sensor.name", "sensor_filter_chain.filter2.params.CoG.pos",
-    "sensor_filter_chain.filter2.params.sensor_frame", "joints", "kinematics.base",
-    "kinematics.plugin_name", "kinematics.plugin_package", "kinematics.tip", "state_interfaces"));
+    "ft_sensor.name", "joints", "kinematics.base", "kinematics.plugin_name",
+    "kinematics.plugin_package", "kinematics.tip", "state_interfaces"));
+
+// Test on_configure returns FAILURE when a required parameter is missing
+TEST_P(
+  AdmittanceControllerTestParameterizedMissingConfigParameters, one_config_parameter_is_missing)
+{
+  SetUpController(GetParam());
+  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_FAILURE);
+}
+
+INSTANTIATE_TEST_SUITE_P(
+  MissingMandatoryParameterDuringConfiguration,
+  AdmittanceControllerTestParameterizedMissingConfigParameters,
+  ::testing::Values(
+    "sensor_filter_chain.filter2.params.CoG.pos",
+    "sensor_filter_chain.filter2.params.sensor_frame"));
 
 INSTANTIATE_TEST_SUITE_P(
   InvalidParameterDuringConfiguration, AdmittanceControllerTestParameterizedInvalidParameters,
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
index 2dbec367d4..a7008d93ea 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -452,6 +452,11 @@ class AdmittanceControllerTestParameterizedMissingParameters
   std::map<std::string, rclcpp::ParameterValue> overrides_;
 };
 
+class AdmittanceControllerTestParameterizedMissingConfigParameters
+: public AdmittanceControllerTestParameterizedMissingParameters
+{
+};
+
 // From the tutorial: https://www.sandordargo.com/blog/2019/04/24/parameterized-testing-with-gtest
 class AdmittanceControllerTestParameterizedInvalidParameters
 : public AdmittanceControllerTest,