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mamueluthmamueluth
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fix failing tests
1 parent 5a1b3e8 commit 0f340d0

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2 files changed

+31
-34
lines changed

2 files changed

+31
-34
lines changed

‎hardware_interface/test/mock_components/test_generic_system.cpp‎

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -515,7 +515,6 @@ class TestGenericSystem : public ::testing::Test
515515
<state_interface name="position">
516516
<param name="initial_value">2.78</param>
517517
</state_interface>
518-
<state_interface name="position"/>
519518
<state_interface name="velocity"/>
520519
<state_interface name="acceleration"/>
521520
</joint>
@@ -546,7 +545,6 @@ class TestGenericSystem : public ::testing::Test
546545
<state_interface name="position">
547546
<param name="initial_value">2.78</param>
548547
</state_interface>
549-
<state_interface name="position"/>
550548
<state_interface name="velocity"/>
551549
<state_interface name="acceleration"/>
552550
</joint>
@@ -555,7 +553,6 @@ class TestGenericSystem : public ::testing::Test
555553
<state_interface name="position">
556554
<param name="initial_value">2.78</param>
557555
</state_interface>
558-
<state_interface name="position"/>
559556
<state_interface name="velocity"/>
560557
<state_interface name="acceleration"/>
561558
</joint>

‎hardware_interface/test/test_component_interfaces.cpp‎

Lines changed: 31 additions & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -1089,26 +1089,26 @@ TEST(TestComponentInterfaces, dummy_sensor_default_interface_export)
10891089
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
10901090
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
10911091

1092-
auto state_interfaces = sensor_hw.export_state_interfaces();
1092+
auto state_interfaces = sensor_hw.on_export_state_interfaces();
10931093
ASSERT_EQ(1u, state_interfaces.size());
1094-
EXPECT_EQ("joint1/voltage", state_interfaces[0].get_name());
1095-
EXPECT_EQ("voltage", state_interfaces[0].get_interface_name());
1096-
EXPECT_EQ("joint1", state_interfaces[0].get_prefix_name());
1097-
EXPECT_TRUE(std::isnan(state_interfaces[0].get_value()));
1094+
EXPECT_EQ("joint1/voltage", state_interfaces[0]->get_name());
1095+
EXPECT_EQ("voltage", state_interfaces[0]->get_interface_name());
1096+
EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name());
1097+
EXPECT_TRUE(std::isnan(state_interfaces[0]->get_value()));
10981098

10991099
// Not updated because is is UNCONFIGURED
11001100
sensor_hw.read(TIME, PERIOD);
1101-
EXPECT_TRUE(std::isnan(state_interfaces[0].get_value()));
1101+
EXPECT_TRUE(std::isnan(state_interfaces[0]->get_value()));
11021102

11031103
// Updated because is is INACTIVE
11041104
state = sensor_hw.configure();
11051105
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, state.id());
11061106
EXPECT_EQ(hardware_interface::lifecycle_state_names::INACTIVE, state.label());
1107-
EXPECT_EQ(0.0, state_interfaces[0].get_value());
1107+
EXPECT_EQ(0.0, state_interfaces[0]->get_value());
11081108

11091109
// It can read now
11101110
sensor_hw.read(TIME, PERIOD);
1111-
EXPECT_EQ(0x666, state_interfaces[0].get_value());
1111+
EXPECT_EQ(0x666, state_interfaces[0]->get_value());
11121112
}
11131113

11141114
TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
@@ -1124,7 +1124,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
11241124
const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0];
11251125
auto state = sensor_hw.initialize(voltage_sensor_res);
11261126

1127-
auto state_interfaces = sensor_hw.export_state_interfaces();
1127+
auto state_interfaces = sensor_hw.on_export_state_interfaces();
11281128
// Updated because is is INACTIVE
11291129
state = sensor_hw.configure();
11301130
state = sensor_hw.activate();
@@ -1146,7 +1146,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
11461146

11471147
// activate again and expect reset values
11481148
state = sensor_hw.configure();
1149-
EXPECT_EQ(state_interfaces[0].get_value(), 0.0);
1149+
EXPECT_EQ(state_interfaces[0]->get_value(), 0.0);
11501150

11511151
state = sensor_hw.activate();
11521152
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id());
@@ -1277,32 +1277,32 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
12771277
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
12781278
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
12791279

1280-
auto state_interfaces = actuator_hw.export_state_interfaces();
1280+
auto state_interfaces = actuator_hw.on_export_state_interfaces();
12811281
ASSERT_EQ(2u, state_interfaces.size());
1282-
EXPECT_EQ("joint1/position", state_interfaces[0].get_name());
1283-
EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0].get_interface_name());
1284-
EXPECT_EQ("joint1", state_interfaces[0].get_prefix_name());
1285-
EXPECT_EQ("joint1/velocity", state_interfaces[1].get_name());
1286-
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1].get_interface_name());
1287-
EXPECT_EQ("joint1", state_interfaces[1].get_prefix_name());
1288-
1289-
auto command_interfaces = actuator_hw.export_command_interfaces();
1282+
EXPECT_EQ("joint1/position", state_interfaces[0]->get_name());
1283+
EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0]->get_interface_name());
1284+
EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name());
1285+
EXPECT_EQ("joint1/velocity", state_interfaces[1]->get_name());
1286+
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1]->get_interface_name());
1287+
EXPECT_EQ("joint1", state_interfaces[1]->get_prefix_name());
1288+
1289+
auto command_interfaces = actuator_hw.on_export_command_interfaces();
12901290
ASSERT_EQ(1u, command_interfaces.size());
1291-
EXPECT_EQ("joint1/velocity", command_interfaces[0].get_name());
1292-
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0].get_interface_name());
1293-
EXPECT_EQ("joint1", command_interfaces[0].get_prefix_name());
1291+
EXPECT_EQ("joint1/velocity", command_interfaces[0]->get_name());
1292+
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0]->get_interface_name());
1293+
EXPECT_EQ("joint1", command_interfaces[0]->get_prefix_name());
12941294

12951295
double velocity_value = 1.0;
1296-
command_interfaces[0].set_value(velocity_value); // velocity
1296+
command_interfaces[0]->set_value(velocity_value); // velocity
12971297
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
12981298

12991299
// Noting should change because it is UNCONFIGURED
13001300
for (auto step = 0u; step < 10; ++step)
13011301
{
13021302
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));
13031303

1304-
ASSERT_TRUE(std::isnan(state_interfaces[0].get_value())); // position value
1305-
ASSERT_TRUE(std::isnan(state_interfaces[1].get_value())); // velocity
1304+
ASSERT_TRUE(std::isnan(state_interfaces[0]->get_value())); // position value
1305+
ASSERT_TRUE(std::isnan(state_interfaces[1]->get_value())); // velocity
13061306

13071307
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
13081308
}
@@ -1316,8 +1316,8 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
13161316
{
13171317
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));
13181318

1319-
EXPECT_EQ(step * velocity_value, state_interfaces[0].get_value()); // position value
1320-
EXPECT_EQ(step ? velocity_value : 0, state_interfaces[1].get_value()); // velocity
1319+
EXPECT_EQ(step * velocity_value, state_interfaces[0]->get_value()); // position value
1320+
EXPECT_EQ(step ? velocity_value : 0, state_interfaces[1]->get_value()); // velocity
13211321

13221322
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
13231323
}
@@ -1331,8 +1331,8 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
13311331
{
13321332
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));
13331333

1334-
EXPECT_EQ((10 + step) * velocity_value, state_interfaces[0].get_value()); // position value
1335-
EXPECT_EQ(velocity_value, state_interfaces[1].get_value()); // velocity
1334+
EXPECT_EQ((10 + step) * velocity_value, state_interfaces[0]->get_value()); // position value
1335+
EXPECT_EQ(velocity_value, state_interfaces[1]->get_value()); // velocity
13361336

13371337
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
13381338
}
@@ -1346,8 +1346,8 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
13461346
{
13471347
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));
13481348

1349-
EXPECT_EQ(20 * velocity_value, state_interfaces[0].get_value()); // position value
1350-
EXPECT_EQ(0, state_interfaces[1].get_value()); // velocity
1349+
EXPECT_EQ(20 * velocity_value, state_interfaces[0]->get_value()); // position value
1350+
EXPECT_EQ(0, state_interfaces[1]->get_value()); // velocity
13511351

13521352
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
13531353
}

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