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christophfroehlichchristophfroehlich
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Check interface_configuration_type consistently
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6 files changed

+45
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6 files changed

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‎force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -163,8 +163,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success)
163163
// check interface configuration
164164
auto cmd_if_conf = fts_broadcaster_->command_interface_configuration();
165165
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
166+
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
166167
auto state_if_conf = fts_broadcaster_->state_interface_configuration();
167168
ASSERT_THAT(state_if_conf.names, SizeIs(6lu));
169+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
168170
}
169171

170172
TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success)
@@ -198,17 +200,21 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success)
198200
// check interface configuration
199201
auto cmd_if_conf = fts_broadcaster_->command_interface_configuration();
200202
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
203+
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
201204
auto state_if_conf = fts_broadcaster_->state_interface_configuration();
202205
ASSERT_THAT(state_if_conf.names, SizeIs(6lu));
206+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
203207

204208
// deactivate passed
205209
ASSERT_EQ(fts_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
206210

207211
// check interface configuration
208212
cmd_if_conf = fts_broadcaster_->command_interface_configuration();
209213
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
214+
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
210215
state_if_conf = fts_broadcaster_->state_interface_configuration();
211216
ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); // did not change
217+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
212218
}
213219

214220
TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success)

‎forward_command_controller/test/test_forward_command_controller.cpp‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -137,6 +137,7 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess)
137137
ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu));
138138
auto state_if_conf = controller_->state_interface_configuration();
139139
ASSERT_THAT(state_if_conf.names, IsEmpty());
140+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
140141
}
141142

142143
TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails)
@@ -189,6 +190,7 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess)
189190
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
190191
auto state_if_conf = controller_->state_interface_configuration();
191192
ASSERT_THAT(state_if_conf.names, IsEmpty());
193+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
192194

193195
ASSERT_EQ(
194196
controller_->on_activate(rclcpp_lifecycle::State()),
@@ -197,8 +199,10 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess)
197199
// check interface configuration
198200
cmd_if_conf = controller_->command_interface_configuration();
199201
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
202+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
200203
state_if_conf = controller_->state_interface_configuration();
201204
ASSERT_THAT(state_if_conf.names, IsEmpty());
205+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
202206
}
203207

204208
TEST_F(ForwardCommandControllerTest, CommandSuccessTest)
@@ -352,15 +356,18 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess)
352356
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
353357
auto state_if_conf = controller_->state_interface_configuration();
354358
ASSERT_THAT(state_if_conf.names, IsEmpty());
359+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
355360

356361
node_state = controller_->get_node()->activate();
357362
ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
358363

359364
// check interface configuration
360365
cmd_if_conf = controller_->command_interface_configuration();
361366
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
367+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
362368
state_if_conf = controller_->state_interface_configuration();
363369
ASSERT_THAT(state_if_conf.names, IsEmpty());
370+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
364371

365372
auto command_msg = std::make_shared<std_msgs::msg::Float64MultiArray>();
366373
command_msg->data = {10.0, 20.0, 30.0};
@@ -383,8 +390,10 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess)
383390
// check interface configuration
384391
cmd_if_conf = controller_->command_interface_configuration();
385392
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size())); // did not change
393+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
386394
state_if_conf = controller_->state_interface_configuration();
387395
ASSERT_THAT(state_if_conf.names, IsEmpty());
396+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
388397

389398
// command ptr should be reset (nullptr) after deactivation - same check as in `update`
390399
ASSERT_FALSE(

‎forward_command_controller/test/test_multi_interface_forward_command_controller.cpp‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -297,6 +297,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes
297297
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
298298
auto state_if_conf = controller_->state_interface_configuration();
299299
ASSERT_THAT(state_if_conf.names, IsEmpty());
300+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
300301

301302
// send command
302303
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
@@ -322,6 +323,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes
322323
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
323324
state_if_conf = controller_->state_interface_configuration();
324325
ASSERT_THAT(state_if_conf.names, IsEmpty());
326+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
325327

326328
// command ptr should be reset (nullptr) after deactivation - same check as in `update`
327329
ASSERT_FALSE(

‎imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -119,8 +119,10 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Configure_Success)
119119
// check interface configuration
120120
auto cmd_if_conf = imu_broadcaster_->command_interface_configuration();
121121
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
122+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
122123
auto state_if_conf = imu_broadcaster_->state_interface_configuration();
123124
ASSERT_THAT(state_if_conf.names, SizeIs(10lu));
125+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
124126
}
125127

126128
TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success)
@@ -138,17 +140,21 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Activate_Success)
138140
// check interface configuration
139141
auto cmd_if_conf = imu_broadcaster_->command_interface_configuration();
140142
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
143+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
141144
auto state_if_conf = imu_broadcaster_->state_interface_configuration();
142145
ASSERT_THAT(state_if_conf.names, SizeIs(10lu));
146+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
143147

144148
// deactivate passed
145149
ASSERT_EQ(imu_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
146150

147151
// check interface configuration
148152
cmd_if_conf = imu_broadcaster_->command_interface_configuration();
149153
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
154+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
150155
state_if_conf = imu_broadcaster_->state_interface_configuration();
151156
ASSERT_THAT(state_if_conf.names, SizeIs(10lu)); // did not change
157+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
152158
}
153159

154160
TEST_F(IMUSensorBroadcasterTest, SensorName_Update_Success)

‎joint_state_broadcaster/test/test_joint_state_broadcaster.cpp‎

Lines changed: 18 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -180,8 +180,10 @@ TEST_F(JointStateBroadcasterTest, ActivateEmptyTest)
180180
// check interface configuration
181181
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
182182
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
183+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
183184
auto state_if_conf = state_broadcaster_->state_interface_configuration();
184185
ASSERT_THAT(state_if_conf.names, IsEmpty());
186+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL);
185187

186188
// publishers initialized
187189
ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_);
@@ -227,8 +229,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutJointsParameter)
227229
// check interface configuration
228230
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
229231
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
232+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
230233
auto state_if_conf = state_broadcaster_->state_interface_configuration();
231234
ASSERT_THAT(state_if_conf.names, IsEmpty());
235+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL);
232236

233237
// publishers initialized
234238
ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_);
@@ -274,8 +278,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestWithoutInterfacesParameter)
274278
// check interface configuration
275279
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
276280
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
281+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
277282
auto state_if_conf = state_broadcaster_->state_interface_configuration();
278283
ASSERT_THAT(state_if_conf.names, IsEmpty());
284+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::ALL);
279285

280286
// publishers initialized
281287
ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_);
@@ -321,8 +327,10 @@ TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface)
321327
// check interface configuration
322328
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
323329
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
330+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
324331
auto state_if_conf = state_broadcaster_->state_interface_configuration();
325332
ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size()));
333+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
326334

327335
// publishers initialized
328336
ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_);
@@ -360,9 +368,11 @@ TEST_F(JointStateBroadcasterTest, ActivateDeactivateTestTwoJointsOneInterface)
360368
// check interface configuration
361369
cmd_if_conf = state_broadcaster_->command_interface_configuration();
362370
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
371+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
363372
state_if_conf = state_broadcaster_->state_interface_configuration();
364373
ASSERT_THAT(
365374
state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size())); // does not change
375+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
366376
}
367377

368378
TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces)
@@ -381,8 +391,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestOneJointTwoInterfaces)
381391
// check interface configuration
382392
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
383393
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
394+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
384395
auto state_if_conf = state_broadcaster_->state_interface_configuration();
385396
ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size()));
397+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
386398

387399
// publishers initialized
388400
ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_);
@@ -455,8 +467,10 @@ TEST_F(JointStateBroadcasterTest, ActivateTestTwoJointTwoInterfacesOneMissing)
455467
// check interface configuration
456468
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
457469
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
470+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
458471
auto state_if_conf = state_broadcaster_->state_interface_configuration();
459472
ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size()));
473+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
460474

461475
// publishers initialized
462476
ASSERT_TRUE(state_broadcaster_->realtime_joint_state_publisher_);
@@ -504,8 +518,10 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceWithoutMapping)
504518
// check interface configuration
505519
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
506520
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
521+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
507522
auto state_if_conf = state_broadcaster_->state_interface_configuration();
508523
ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size()));
524+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
509525

510526
// joint state initialized
511527
const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_;
@@ -547,8 +563,10 @@ TEST_F(JointStateBroadcasterTest, TestCustomInterfaceMapping)
547563
// check interface configuration
548564
auto cmd_if_conf = state_broadcaster_->command_interface_configuration();
549565
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
566+
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
550567
auto state_if_conf = state_broadcaster_->state_interface_configuration();
551568
ASSERT_THAT(state_if_conf.names, SizeIs(JOINT_NAMES.size() * IF_NAMES.size()));
569+
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
552570

553571
// joint state initialized
554572
const auto & joint_state_msg = state_broadcaster_->realtime_joint_state_publisher_->msg_;

‎range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -154,8 +154,10 @@ TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success)
154154
// check interface configuration
155155
auto cmd_if_conf = range_broadcaster_->command_interface_configuration();
156156
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
157+
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
157158
auto state_if_conf = range_broadcaster_->state_interface_configuration();
158159
ASSERT_THAT(state_if_conf.names, SizeIs(1lu));
160+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
159161

160162
ASSERT_EQ(
161163
range_broadcaster_->on_deactivate(rclcpp_lifecycle::State()),
@@ -164,8 +166,10 @@ TEST_F(RangeSensorBroadcasterTest, ActivateDeactivate_RangeBroadcaster_Success)
164166
// check interface configuration
165167
cmd_if_conf = range_broadcaster_->command_interface_configuration();
166168
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
169+
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
167170
state_if_conf = range_broadcaster_->state_interface_configuration();
168171
ASSERT_THAT(state_if_conf.names, SizeIs(1lu)); // did not change
172+
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
169173
}
170174

171175
TEST_F(RangeSensorBroadcasterTest, Update_RangeBroadcaster_Success)

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