From 38e86df3cc17ab5a74dc34e2b6ae2de87eefcc98 Mon Sep 17 00:00:00 2001 From: Manuel M Date: Mon, 22 Apr 2024 11:12:55 +0200 Subject: [PATCH 1/2] adapt test to new way of exporting reference interfaces --- .../test/test_ackermann_steering_controller.cpp | 6 +++--- .../test/test_ackermann_steering_controller_preceeding.cpp | 6 +++--- .../test/test_bicycle_steering_controller.cpp | 6 +++--- .../test/test_bicycle_steering_controller_preceeding.cpp | 6 +++--- pid_controller/test/test_pid_controller.cpp | 6 +++--- pid_controller/test/test_pid_controller_preceding.cpp | 6 +++--- .../test/test_steering_controllers_library.cpp | 6 +++--- .../test/test_tricycle_steering_controller.cpp | 6 +++--- .../test/test_tricycle_steering_controller_preceeding.cpp | 6 +++--- 9 files changed, 27 insertions(+), 27 deletions(-) diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp index c04e87be95..c434f73467 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp @@ -89,9 +89,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name); + EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp index 96dd20d80e..4f67beaa07 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp @@ -91,9 +91,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name); + EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp index 573992b24e..7ec0983f93 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp @@ -73,9 +73,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name); + EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp index 0bc03f4886..0a321009c2 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp @@ -77,9 +77,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name); + EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp index 9b53dccb23..60d484e463 100644 --- a/pid_controller/test/test_pid_controller.cpp +++ b/pid_controller/test/test_pid_controller.cpp @@ -97,9 +97,9 @@ TEST_F(PidControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface; - EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name); - EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface); + EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface); ++ri_index; } } diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp index 498ca633da..3bfd9e79ec 100644 --- a/pid_controller/test/test_pid_controller_preceding.cpp +++ b/pid_controller/test/test_pid_controller_preceding.cpp @@ -84,9 +84,9 @@ TEST_F(PidControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface; - EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name); - EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface); + EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface); ++ri_index; } } diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index fca7d00946..64387962bf 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -70,9 +70,9 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); - EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name); + EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp index 3f2589cb6c..8e29314f8e 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp @@ -81,9 +81,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name); - EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]); } } diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp index 2170659ee7..566169e34e 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp @@ -84,9 +84,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i]; - EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name); - EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]); + EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name); + EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]); } } From 0a17f1499e60c238cdda6a78b7f4d2fb2d0682db Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Mon, 7 Oct 2024 11:02:34 +0100 Subject: [PATCH 2/2] Adjust new tests --- pid_controller/test/test_pid_controller_preceding.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp index a871cdf354..ee5fe46754 100644 --- a/pid_controller/test/test_pid_controller_preceding.cpp +++ b/pid_controller/test/test_pid_controller_preceding.cpp @@ -101,10 +101,10 @@ TEST_F(PidControllerTest, check_exported_interfaces) { const std::string state_itf_name = std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface; - EXPECT_EQ(exported_state_itfs[esi_index].get_name(), state_itf_name); + EXPECT_EQ(exported_state_itfs[esi_index]->get_name(), state_itf_name); EXPECT_EQ( - exported_state_itfs[esi_index].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(exported_state_itfs[esi_index].get_interface_name(), dof_name + "/" + interface); + exported_state_itfs[esi_index]->get_prefix_name(), controller_->get_node()->get_name()); + EXPECT_EQ(exported_state_itfs[esi_index]->get_interface_name(), dof_name + "/" + interface); ++esi_index; } }