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fix failing tests
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@mamueluth
mamueluth committed Dec 20, 2023
1 parent 626412b commit df2d739
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Showing 2 changed files with 31 additions and 34 deletions.
3 changes: 0 additions & 3 deletions hardware_interface/test/mock_components/test_generic_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -515,7 +515,6 @@ class TestGenericSystem : public ::testing::Test
<state_interface name="position">
<param name="initial_value">2.78</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
Expand Down Expand Up @@ -546,7 +545,6 @@ class TestGenericSystem : public ::testing::Test
<state_interface name="position">
<param name="initial_value">2.78</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
Expand All @@ -555,7 +553,6 @@ class TestGenericSystem : public ::testing::Test
<state_interface name="position">
<param name="initial_value">2.78</param>
</state_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
</joint>
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62 changes: 31 additions & 31 deletions hardware_interface/test/test_component_interfaces.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1077,26 +1077,26 @@ TEST(TestComponentInterfaces, dummy_sensor_default_interface_export)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

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

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

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

// It can read now
sensor_hw.read(TIME, PERIOD);
EXPECT_EQ(0x666, state_interfaces[0].get_value());
EXPECT_EQ(0x666, state_interfaces[0]->get_value());
}

TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
Expand All @@ -1112,7 +1112,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0];
auto state = sensor_hw.initialize(voltage_sensor_res);

auto state_interfaces = sensor_hw.export_state_interfaces();
auto state_interfaces = sensor_hw.on_export_state_interfaces();
// Updated because is is INACTIVE
state = sensor_hw.configure();
state = sensor_hw.activate();
Expand All @@ -1134,7 +1134,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)

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

state = sensor_hw.activate();
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, state.id());
Expand Down Expand Up @@ -1265,32 +1265,32 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

auto state_interfaces = actuator_hw.export_state_interfaces();
auto state_interfaces = actuator_hw.on_export_state_interfaces();
ASSERT_EQ(2u, state_interfaces.size());
EXPECT_EQ("joint1/position", state_interfaces[0].get_name());
EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0].get_interface_name());
EXPECT_EQ("joint1", state_interfaces[0].get_prefix_name());
EXPECT_EQ("joint1/velocity", state_interfaces[1].get_name());
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1].get_interface_name());
EXPECT_EQ("joint1", state_interfaces[1].get_prefix_name());

auto command_interfaces = actuator_hw.export_command_interfaces();
EXPECT_EQ("joint1/position", state_interfaces[0]->get_name());
EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[0]->get_interface_name());
EXPECT_EQ("joint1", state_interfaces[0]->get_prefix_name());
EXPECT_EQ("joint1/velocity", state_interfaces[1]->get_name());
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[1]->get_interface_name());
EXPECT_EQ("joint1", state_interfaces[1]->get_prefix_name());

auto command_interfaces = actuator_hw.on_export_command_interfaces();
ASSERT_EQ(1u, command_interfaces.size());
EXPECT_EQ("joint1/velocity", command_interfaces[0].get_name());
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0].get_interface_name());
EXPECT_EQ("joint1", command_interfaces[0].get_prefix_name());
EXPECT_EQ("joint1/velocity", command_interfaces[0]->get_name());
EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[0]->get_interface_name());
EXPECT_EQ("joint1", command_interfaces[0]->get_prefix_name());

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

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

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

ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
}
Expand All @@ -1304,8 +1304,8 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
{
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));

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

ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
}
Expand All @@ -1319,8 +1319,8 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
{
ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));

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

ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
}
Expand All @@ -1334,8 +1334,8 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
{
ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));

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

ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
}
Expand Down

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