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Fixing Hardware components logging spam in tests #2692

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1cabf60
fixed tests for component interfaces
soham2560 Oct 14, 2025
59b83ce
Merge branch 'master' into fix/test_init
soham2560 Oct 24, 2025
297bc5c
Revert "fixed tests for component interfaces"
soham2560 Oct 24, 2025
b88ddb8
fixed tests for component interfaces
soham2560 Oct 24, 2025
63e2902
added nullptr
soham2560 Oct 24, 2025
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96 changes: 69 additions & 27 deletions hardware_interface/test/test_component_interfaces.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "hardware_interface/types/lifecycle_state_names.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp/executors/multi_threaded_executor.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "ros2_control_test_assets/components_urdfs.hpp"
Expand Down Expand Up @@ -778,18 +779,33 @@ class DummySystemPreparePerform : public hardware_interface::SystemInterface
};

} // namespace test_components
class TestComponentInterfaces : public ::testing::Test
{
protected:
void SetUp() override
{
if (!rclcpp::ok())
{
rclcpp::init(0, nullptr);
}
}

void TearDown() override { rclcpp::shutdown(); }
std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_ = nullptr;
};
// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_actuator)
TEST_F(TestComponentInterfaces, dummy_actuator)
{
hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = actuator_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -879,7 +895,7 @@ TEST(TestComponentInterfaces, dummy_actuator)
}
// END

TEST(TestComponentInterfaces, dummy_actuator_default)
TEST_F(TestComponentInterfaces, dummy_actuator_default)
{
hardware_interface::Actuator actuator_hw(
std::make_unique<test_components::DummyActuatorDefault>());
Expand All @@ -895,6 +911,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
params.hardware_info = dummy_actuator;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = actuator_hw.initialize(params);

EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
Expand Down Expand Up @@ -1008,16 +1025,18 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_sensor)
TEST_F(TestComponentInterfaces, dummy_sensor)
{
hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_sensor_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = sensor_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1045,7 +1064,7 @@ TEST(TestComponentInterfaces, dummy_sensor)
}
// END

TEST(TestComponentInterfaces, dummy_sensor_default)
TEST_F(TestComponentInterfaces, dummy_sensor_default)
{
hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensorDefault>());

Expand All @@ -1061,6 +1080,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default)
params.hardware_info = voltage_sensor_res;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = sensor_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1092,7 +1112,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default)
EXPECT_EQ(0x666, state_interfaces[si_sens1_vol]->get_optional().value());
}

TEST(TestComponentInterfaces, dummy_sensor_default_joint)
TEST_F(TestComponentInterfaces, dummy_sensor_default_joint)
{
hardware_interface::Sensor sensor_hw(
std::make_unique<test_components::DummySensorJointDefault>());
Expand All @@ -1109,6 +1129,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_joint)
params.hardware_info = sensor_res;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = sensor_hw.initialize(params);
ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
ASSERT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1151,16 +1172,18 @@ TEST(TestComponentInterfaces, dummy_sensor_default_joint)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_system)
TEST_F(TestComponentInterfaces, dummy_system)
{
hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1284,7 +1307,7 @@ TEST(TestComponentInterfaces, dummy_system)
}
// END

TEST(TestComponentInterfaces, dummy_system_default)
TEST_F(TestComponentInterfaces, dummy_system_default)
{
hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());

Expand All @@ -1300,6 +1323,7 @@ TEST(TestComponentInterfaces, dummy_system_default)
params.hardware_info = dummy_system;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1500,16 +1524,19 @@ TEST(TestComponentInterfaces, dummy_system_default)
EXPECT_EQ(hardware_interface::return_type::OK, system_hw.perform_command_mode_switch({}, {}));
}

TEST(TestComponentInterfaces, dummy_command_mode_system)
TEST_F(TestComponentInterfaces, dummy_command_mode_system)
{
hardware_interface::System system_hw(
std::make_unique<test_components::DummySystemPreparePerform>());
hardware_interface::HardwareInfo mock_hw_info{};

hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1537,16 +1564,18 @@ TEST(TestComponentInterfaces, dummy_command_mode_system)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior)
TEST_F(TestComponentInterfaces, dummy_actuator_read_error_behavior)
{
hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = actuator_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1602,7 +1631,7 @@ TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior)
}
// END

TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
TEST_F(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
{
hardware_interface::Actuator actuator_hw(
std::make_unique<test_components::DummyActuatorDefault>());
Expand All @@ -1619,6 +1648,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
params.hardware_info = dummy_actuator;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = actuator_hw.initialize(params);

EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
Expand Down Expand Up @@ -1678,16 +1708,18 @@ TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior)
TEST_F(TestComponentInterfaces, dummy_actuator_write_error_behavior)
{
hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = actuator_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1743,7 +1775,7 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior)
}
// END

TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
TEST_F(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
{
hardware_interface::Actuator actuator_hw(
std::make_unique<test_components::DummyActuatorDefault>());
Expand All @@ -1760,6 +1792,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
params.hardware_info = dummy_actuator;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = actuator_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -1818,16 +1851,18 @@ TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
TEST_F(TestComponentInterfaces, dummy_sensor_read_error_behavior)
{
hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_sensor_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = sensor_hw.initialize(params);

auto state_interfaces = sensor_hw.export_state_interfaces();
Expand Down Expand Up @@ -1888,7 +1923,7 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
}
// END

TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
TEST_F(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
{
hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensorDefault>());

Expand All @@ -1904,6 +1939,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
params.hardware_info = voltage_sensor_res;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = sensor_hw.initialize(params);

auto state_interfaces = sensor_hw.export_state_interfaces();
Expand Down Expand Up @@ -1953,16 +1989,18 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_system_read_error_behavior)
TEST_F(TestComponentInterfaces, dummy_system_read_error_behavior)
{
hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -2023,7 +2061,7 @@ TEST(TestComponentInterfaces, dummy_system_read_error_behavior)
}
// END

TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
TEST_F(TestComponentInterfaces, dummy_system_default_read_error_behavior)
{
hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());

Expand All @@ -2039,6 +2077,7 @@ TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
params.hardware_info = dummy_system;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -2099,16 +2138,18 @@ TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
}

// BEGIN (Handle export change): for backward compatibility
TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
TEST_F(TestComponentInterfaces, dummy_system_write_error_behavior)
{
hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());

hardware_interface::HardwareInfo mock_hw_info{};
hardware_interface::HardwareInfo mock_hw_info;
mock_hw_info.name = "mock_hw";
rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
hardware_interface::HardwareComponentParams params;
params.hardware_info = mock_hw_info;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down Expand Up @@ -2169,7 +2210,7 @@ TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
}
// END

TEST(TestComponentInterfaces, dummy_system_default_write_error_behavior)
TEST_F(TestComponentInterfaces, dummy_system_default_write_error_behavior)
{
hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());

Expand All @@ -2185,6 +2226,7 @@ TEST(TestComponentInterfaces, dummy_system_default_write_error_behavior)
params.hardware_info = dummy_system;
params.clock = node->get_clock();
params.logger = node->get_logger();
params.executor = executor_;
auto state = system_hw.initialize(params);
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
Expand Down
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