From 5e4118be56c987406ff8c91759e52dca2b7d4531 Mon Sep 17 00:00:00 2001 From: Manuel M Date: Mon, 29 Jan 2024 09:34:49 +0100 Subject: [PATCH] export_interfaces_2() virtual for custom interface export --- .../hardware_interface/actuator_interface.hpp | 33 ++- .../hardware_interface/hardware_info.hpp | 9 +- .../hardware_interface/sensor_interface.hpp | 16 +- .../hardware_interface/system_interface.hpp | 37 ++- ...est_component_interfaces_custom_export.cpp | 225 +++++++++++++----- hardware_interface/test/test_components.hpp | 40 ++++ 6 files changed, 281 insertions(+), 79 deletions(-) create mode 100644 hardware_interface/test/test_components.hpp diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp index 91b0adfca6..19af19d1a0 100644 --- a/hardware_interface/include/hardware_interface/actuator_interface.hpp +++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp @@ -159,6 +159,20 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod return {}; } + /** + * Override this method to export custom StateInterfaces which are not defined in the URDF file. + * + * Note method name is going to be changed to export_state_interfaces() as soon as the deprecated + * version is removed. + * + * \return vector of shared pointers to the created and stored StateInterfaces + */ + virtual std::vector> export_state_interfaces_2() + { + // return empty vector by default. + return {}; + } + /** * Default implementation for exporting the StateInterfaces. The StateInterfaces are created * according to the InterfaceDescription. The memory accessed by the controllers and hardware is @@ -168,7 +182,7 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod */ virtual std::vector> on_export_state_interfaces() { - std::vector> state_interfaces; + std::vector> state_interfaces = export_state_interfaces_2(); state_interfaces.reserve(joint_state_interfaces_.size()); for (const auto & [name, descr] : joint_state_interfaces_) @@ -204,6 +218,20 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod return {}; } + /** + * Override this method to export custom CommandInterfaces which are not defined in the URDF file. + * + * Note method name is going to be changed to export_command_interfaces() as soon as the + * deprecated version is removed. + * + * \return vector of shared pointers to the created and stored StateInterfaces + */ + virtual std::vector> export_command_interfaces_2() + { + // return empty vector by default. + return {}; + } + /** * Default implementation for exporting the CommandInterfaces. The CommandInterfaces are created * according to the InterfaceDescription. The memory accessed by the controllers and hardware is @@ -213,7 +241,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod */ virtual std::vector> on_export_command_interfaces() { - std::vector> command_interfaces; + std::vector> command_interfaces = + export_command_interfaces_2(); command_interfaces.reserve(joint_command_interfaces_.size()); for (const auto & [name, descr] : joint_command_interfaces_) diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp index be5ba036f1..d1092af67b 100644 --- a/hardware_interface/include/hardware_interface/hardware_info.hpp +++ b/hardware_interface/include/hardware_interface/hardware_info.hpp @@ -38,9 +38,9 @@ struct InterfaceInfo std::string max; /// (Optional) Initial value of the interface. std::string initial_value; - /// (Optional) The datatype of the interface, e.g. "bool", "int". Used by GPIOs. + /// (Optional) The datatype of the interface, e.g. "bool", "int". std::string data_type; - /// (Optional) If the handle is an array, the size of the array. Used by GPIOs. + /// (Optional) If the handle is an array, the size of the array. int size; }; @@ -118,11 +118,6 @@ struct InterfaceDescription */ std::string prefix_name; - /** - * What type of component is exported: joint, sensor or gpio - */ - std::string component_type; - /** * Information about the Interface type (position, velocity,...) as well as limits and so on. */ diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp index 193d0fd1c4..db8377f661 100644 --- a/hardware_interface/include/hardware_interface/sensor_interface.hpp +++ b/hardware_interface/include/hardware_interface/sensor_interface.hpp @@ -143,6 +143,20 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI return {}; } + /** + * Override this method to export custom StateInterfaces which are not defined in the URDF file. + * + * Note method name is going to be changed to export_state_interfaces() as soon as the deprecated + * version is removed. + * + * \return vector of shared pointers to the created and stored StateInterfaces + */ + virtual std::vector> export_state_interfaces_2() + { + // return empty vector by default. + return {}; + } + /** * Default implementation for exporting the StateInterfaces. The StateInterfaces are created * according to the InterfaceDescription. The memory accessed by the controllers and hardware is @@ -152,7 +166,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI */ virtual std::vector> on_export_state_interfaces() { - std::vector> state_interfaces; + std::vector> state_interfaces = export_state_interfaces_2(); state_interfaces.reserve(sensor_state_interfaces_.size()); for (const auto & [name, descr] : sensor_state_interfaces_) diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp index c73e4c069c..a34335a3df 100644 --- a/hardware_interface/include/hardware_interface/system_interface.hpp +++ b/hardware_interface/include/hardware_interface/system_interface.hpp @@ -178,6 +178,20 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI return {}; } + /** + * Override this method to export custom StateInterfaces which are not defined in the URDF file. + * + * Note method name is going to be changed to export_state_interfaces() as soon as the deprecated + * version is removed. + * + * \return vector of shared pointers to the created and stored StateInterfaces + */ + virtual std::vector> export_state_interfaces_2() + { + // return empty vector by default. + return {}; + } + /** * Default implementation for exporting the StateInterfaces. The StateInterfaces are created * according to the InterfaceDescription. The memory accessed by the controllers and hardware is @@ -185,9 +199,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI * * \return vector of shared pointers to the created and stored StateInterfaces */ - virtual std::vector> on_export_state_interfaces() + std::vector> on_export_state_interfaces() { - std::vector> state_interfaces; + std::vector> state_interfaces = export_state_interfaces_2(); state_interfaces.reserve( joint_state_interfaces_.size() + sensor_state_interfaces_.size() + gpio_state_interfaces_.size()); @@ -237,6 +251,20 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI return {}; } + /** + * Override this method to export custom CommandInterfaces which are not defined in the URDF file. + * + * Note method name is going to be changed to export_command_interfaces() as soon as the + * deprecated version is removed. + * + * \return vector of shared pointers to the created and stored StateInterfaces + */ + virtual std::vector> export_command_interfaces_2() + { + // return empty vector by default. + return {}; + } + /** * Default implementation for exporting the CommandInterfaces. The CommandInterfaces are created * according to the InterfaceDescription. The memory accessed by the controllers and hardware is @@ -244,9 +272,10 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI * * \return vector of shared pointers to the created and stored CommandInterfaces */ - virtual std::vector> on_export_command_interfaces() + std::vector> on_export_command_interfaces() { - std::vector> command_interfaces; + std::vector> command_interfaces = + export_command_interfaces_2(); command_interfaces.reserve(joint_command_interfaces_.size() + gpio_command_interfaces_.size()); for (const auto & [name, descr] : joint_command_interfaces_) diff --git a/hardware_interface/test/test_component_interfaces_custom_export.cpp b/hardware_interface/test/test_component_interfaces_custom_export.cpp index 07fc3204e3..fe76dc21ac 100644 --- a/hardware_interface/test/test_component_interfaces_custom_export.cpp +++ b/hardware_interface/test/test_component_interfaces_custom_export.cpp @@ -36,6 +36,7 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "ros2_control_test_assets/components_urdfs.hpp" #include "ros2_control_test_assets/descriptions.hpp" +#include "test_components.hpp" // Values to send over command interface to trigger error in write and read methods @@ -56,10 +57,10 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface { std::string get_name() const override { return "DummyActuatorDefault"; } - std::vector> on_export_state_interfaces() + std::vector> export_state_interfaces_2() override { - auto interfaces = hardware_interface::ActuatorInterface::on_export_state_interfaces(); + std::vector> interfaces; auto unlisted_state_interface = std::make_shared( info_.joints[0].name, "some_unlisted_interface", nullptr); actuator_states_.insert( @@ -69,10 +70,10 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface return interfaces; } - std::vector> on_export_command_interfaces() + std::vector> export_command_interfaces_2() override { - auto interfaces = hardware_interface::ActuatorInterface::on_export_command_interfaces(); + std::vector> interfaces; auto unlisted_state_interface = std::make_shared( info_.joints[0].name, "some_unlisted_interface", nullptr); actuator_commands_.insert( @@ -99,10 +100,10 @@ class DummySensorDefault : public hardware_interface::SensorInterface { std::string get_name() const override { return "DummySensorDefault"; } - std::vector> on_export_state_interfaces() + std::vector> export_state_interfaces_2() override { - auto interfaces = hardware_interface::SensorInterface::on_export_state_interfaces(); + std::vector> interfaces; auto unlisted_state_interface = std::make_shared( info_.sensors[0].name, "some_unlisted_interface", nullptr); sensor_states_.insert( @@ -123,10 +124,10 @@ class DummySystemDefault : public hardware_interface::SystemInterface { std::string get_name() const override { return "DummySystemDefault"; } - std::vector> on_export_state_interfaces() + std::vector> export_state_interfaces_2() override { - auto interfaces = hardware_interface::SystemInterface::on_export_state_interfaces(); + std::vector> interfaces; auto unlisted_state_interface = std::make_shared( info_.joints[0].name, "some_unlisted_interface", nullptr); system_states_.insert( @@ -136,10 +137,10 @@ class DummySystemDefault : public hardware_interface::SystemInterface return interfaces; } - std::vector> on_export_command_interfaces() + std::vector> export_command_interfaces_2() override { - auto interfaces = hardware_interface::SystemInterface::on_export_command_interfaces(); + std::vector> interfaces; auto unlisted_state_interface = std::make_shared( info_.joints[0].name, "some_unlisted_interface", nullptr); system_commands_.insert( @@ -182,24 +183,50 @@ TEST(TestComponentInterfaces, dummy_actuator_default_custom_export) auto state_interfaces = actuator_hw.export_state_interfaces(); ASSERT_EQ(3u, 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()); - EXPECT_EQ("joint1/some_unlisted_interface", state_interfaces[2]->get_name()); - EXPECT_EQ("some_unlisted_interface", state_interfaces[2]->get_interface_name()); - EXPECT_EQ("joint1", state_interfaces[2]->get_prefix_name()); + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/position"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/position", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/velocity", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/some_unlisted_interface"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/some_unlisted_interface", state_interfaces[position]->get_name()); + EXPECT_EQ("some_unlisted_interface", state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } auto command_interfaces = actuator_hw.export_command_interfaces(); ASSERT_EQ(2u, 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/some_unlisted_interface", command_interfaces[1]->get_name()); - EXPECT_EQ("some_unlisted_interface", command_interfaces[1]->get_interface_name()); - EXPECT_EQ("joint1", command_interfaces[1]->get_prefix_name()); + { + auto [contains, position] = + test_components::vector_contains(command_interfaces, "joint1/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/velocity", command_interfaces[position]->get_name()); + EXPECT_EQ( + hardware_interface::HW_IF_VELOCITY, command_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", command_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(command_interfaces, "joint1/some_unlisted_interface"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/some_unlisted_interface", command_interfaces[position]->get_name()); + EXPECT_EQ("some_unlisted_interface", command_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", command_interfaces[position]->get_prefix_name()); + } } TEST(TestComponentInterfaces, dummy_sensor_default_custom_export) @@ -219,13 +246,23 @@ TEST(TestComponentInterfaces, dummy_sensor_default_custom_export) auto state_interfaces = sensor_hw.export_state_interfaces(); ASSERT_EQ(2u, 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/some_unlisted_interface", state_interfaces[1]->get_name()); - EXPECT_EQ("some_unlisted_interface", state_interfaces[1]->get_interface_name()); - EXPECT_EQ("joint1", state_interfaces[1]->get_prefix_name()); + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/voltage"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/voltage", state_interfaces[position]->get_name()); + EXPECT_EQ("voltage", state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + EXPECT_TRUE(std::isnan(state_interfaces[position]->get_value())); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/some_unlisted_interface"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/some_unlisted_interface", state_interfaces[position]->get_name()); + EXPECT_EQ("some_unlisted_interface", state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } } TEST(TestComponentInterfaces, dummy_system_default_custom_export) @@ -245,40 +282,98 @@ TEST(TestComponentInterfaces, dummy_system_default_custom_export) auto state_interfaces = system_hw.export_state_interfaces(); ASSERT_EQ(7u, 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()); - EXPECT_EQ("joint2/position", state_interfaces[2]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[2]->get_interface_name()); - EXPECT_EQ("joint2", state_interfaces[2]->get_prefix_name()); - EXPECT_EQ("joint2/velocity", state_interfaces[3]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[3]->get_interface_name()); - EXPECT_EQ("joint2", state_interfaces[3]->get_prefix_name()); - EXPECT_EQ("joint3/position", state_interfaces[4]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[4]->get_interface_name()); - EXPECT_EQ("joint3", state_interfaces[4]->get_prefix_name()); - EXPECT_EQ("joint3/velocity", state_interfaces[5]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[5]->get_interface_name()); - EXPECT_EQ("joint3", state_interfaces[5]->get_prefix_name()); - EXPECT_EQ("joint1/some_unlisted_interface", state_interfaces[6]->get_name()); - EXPECT_EQ("some_unlisted_interface", state_interfaces[6]->get_interface_name()); - EXPECT_EQ("joint1", state_interfaces[6]->get_prefix_name()); + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/position"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/position", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/velocity", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint2/position"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint2/position", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint2", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint2/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint2/velocity", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint2", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint3/position"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint3/position", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_POSITION, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint3", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint3/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint3/velocity", state_interfaces[position]->get_name()); + EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint3", state_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(state_interfaces, "joint1/some_unlisted_interface"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/some_unlisted_interface", state_interfaces[position]->get_name()); + EXPECT_EQ("some_unlisted_interface", state_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", state_interfaces[position]->get_prefix_name()); + } auto command_interfaces = system_hw.export_command_interfaces(); ASSERT_EQ(4u, 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("joint2/velocity", command_interfaces[1]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[1]->get_interface_name()); - EXPECT_EQ("joint2", command_interfaces[1]->get_prefix_name()); - EXPECT_EQ("joint3/velocity", command_interfaces[2]->get_name()); - EXPECT_EQ(hardware_interface::HW_IF_VELOCITY, command_interfaces[2]->get_interface_name()); - EXPECT_EQ("joint3", command_interfaces[2]->get_prefix_name()); - EXPECT_EQ("joint1/some_unlisted_interface", command_interfaces[3]->get_name()); - EXPECT_EQ("some_unlisted_interface", command_interfaces[3]->get_interface_name()); - EXPECT_EQ("joint1", command_interfaces[3]->get_prefix_name()); + { + auto [contains, position] = + test_components::vector_contains(command_interfaces, "joint1/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/velocity", command_interfaces[position]->get_name()); + EXPECT_EQ( + hardware_interface::HW_IF_VELOCITY, command_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", command_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(command_interfaces, "joint2/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint2/velocity", command_interfaces[position]->get_name()); + EXPECT_EQ( + hardware_interface::HW_IF_VELOCITY, command_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint2", command_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(command_interfaces, "joint3/velocity"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint3/velocity", command_interfaces[position]->get_name()); + EXPECT_EQ( + hardware_interface::HW_IF_VELOCITY, command_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint3", command_interfaces[position]->get_prefix_name()); + } + { + auto [contains, position] = + test_components::vector_contains(command_interfaces, "joint1/some_unlisted_interface"); + EXPECT_TRUE(contains); + EXPECT_EQ("joint1/some_unlisted_interface", command_interfaces[position]->get_name()); + EXPECT_EQ("some_unlisted_interface", command_interfaces[position]->get_interface_name()); + EXPECT_EQ("joint1", command_interfaces[position]->get_prefix_name()); + } } diff --git a/hardware_interface/test/test_components.hpp b/hardware_interface/test/test_components.hpp new file mode 100644 index 0000000000..cd61d7b529 --- /dev/null +++ b/hardware_interface/test/test_components.hpp @@ -0,0 +1,40 @@ +// Copyright 2020 ros2_control Development Team +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_COMPONENTS_HPP_ +#define TEST_COMPONENTS_HPP_ + +#include +#include +#include +#include + +#include "hardware_interface/handle.hpp" + +namespace test_components +{ + +template +std::pair vector_contains(const std::vector & vec, const T & element) +{ + auto it = std::find_if( + vec.begin(), vec.end(), + [element](const auto & state_interface) + { return state_interface->get_name() == std::string(element); }); + + return std::make_pair(it != vec.end(), std::distance(vec.begin(), it)); +} + +} // namespace test_components +#endif // TEST_COMPONENTS_HPP_