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Add tests for interface_configuration_type consistently (#899)
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(cherry picked from commit f2f36c0)

# Conflicts:
#	pid_controller/test/test_pid_controller.cpp
#	pid_controller/test/test_pid_controller_preceding.cpp
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@christophfroehlich @mergify
christophfroehlich authored and mergify[bot] committed Jan 31, 2024
1 parent 100c754 commit 1080988
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Showing 22 changed files with 804 additions and 111 deletions.
28 changes: 15 additions & 13 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
}

TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
{
SetUpController();

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

auto command_intefaces = controller_->command_interface_configuration();
ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
EXPECT_EQ(
command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
rear_wheels_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
rear_wheels_names_[1] + "/" + traction_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
front_wheels_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_STEER_LEFT_WHEEL],
cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
front_wheels_names_[1] + "/" + steering_interface_name_);
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

auto state_intefaces = controller_->state_interface_configuration();
ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
EXPECT_EQ(
state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_STEER_LEFT_WHEEL],
state_if_conf.names[STATE_STEER_LEFT_WHEEL],
controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfsTIME
auto reference_interfaces = controller_->export_reference_interfaces();
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2 changes: 1 addition & 1 deletion ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ class TestableAckermannSteeringController
: public ackermann_steering_controller::AckermannSteeringController
{
FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success);
FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces);
FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces);
FRIEND_TEST(AckermannSteeringControllerTest, activate_success);
FRIEND_TEST(AckermannSteeringControllerTest, update_success);
FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success);
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28 changes: 15 additions & 13 deletions ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,41 +48,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
}

TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
{
SetUpController();

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

auto command_intefaces = controller_->command_interface_configuration();
ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
EXPECT_EQ(
command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_STEER_LEFT_WHEEL],
cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
preceeding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_);
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

auto state_intefaces = controller_->state_interface_configuration();
ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
EXPECT_EQ(
state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_STEER_LEFT_WHEEL],
state_if_conf.names[STATE_STEER_LEFT_WHEEL],
controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
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3 changes: 3 additions & 0 deletions admittance_controller/test/test_admittance_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,12 +159,15 @@ TEST_F(AdmittanceControllerTest, check_interfaces)

auto command_interfaces = controller_->command_interface_configuration();
ASSERT_EQ(command_interfaces.names.size(), joint_command_values_.size());
EXPECT_EQ(
command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);

ASSERT_EQ(
controller_->command_interfaces_.size(), command_interface_types_.size() * joint_names_.size());

auto state_interfaces = controller_->state_interface_configuration();
ASSERT_EQ(state_interfaces.names.size(), joint_state_values_.size() + fts_state_values_.size());
EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);

ASSERT_EQ(
controller_->state_interfaces_.size(),
Expand Down
22 changes: 11 additions & 11 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,29 +44,29 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success)
ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_);
}

TEST_F(BicycleSteeringControllerTest, check_exported_intefaces)
TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
{
SetUpController();

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

auto command_intefaces = controller_->command_interface_configuration();
ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
EXPECT_EQ(
command_intefaces.names[CMD_TRACTION_WHEEL],
rear_wheels_names_[0] + "/" + traction_interface_name_);
cmd_if_conf.names[CMD_TRACTION_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
command_intefaces.names[CMD_STEER_WHEEL],
front_wheels_names_[0] + "/" + steering_interface_name_);
cmd_if_conf.names[CMD_STEER_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

auto state_intefaces = controller_->state_interface_configuration();
ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
EXPECT_EQ(
state_intefaces.names[STATE_TRACTION_WHEEL],
state_if_conf.names[STATE_TRACTION_WHEEL],
controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_STEER_AXIS],
state_if_conf.names[STATE_STEER_AXIS],
controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfsTIME
auto reference_interfaces = controller_->export_reference_interfaces();
Expand Down
2 changes: 1 addition & 1 deletion bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ class TestableBicycleSteeringController
: public bicycle_steering_controller::BicycleSteeringController
{
FRIEND_TEST(BicycleSteeringControllerTest, all_parameters_set_configure_success);
FRIEND_TEST(BicycleSteeringControllerTest, check_exported_intefaces);
FRIEND_TEST(BicycleSteeringControllerTest, check_exported_interfaces);
FRIEND_TEST(BicycleSteeringControllerTest, activate_success);
FRIEND_TEST(BicycleSteeringControllerTest, update_success);
FRIEND_TEST(BicycleSteeringControllerTest, deactivate_success);
Expand Down
22 changes: 11 additions & 11 deletions bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,31 +46,31 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success)
ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_);
}

TEST_F(BicycleSteeringControllerTest, check_exported_intefaces)
TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
{
SetUpController();

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

auto command_intefaces = controller_->command_interface_configuration();
ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
EXPECT_EQ(
command_intefaces.names[CMD_TRACTION_WHEEL],
cmd_if_conf.names[CMD_TRACTION_WHEEL],
preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_);

EXPECT_EQ(
command_intefaces.names[CMD_STEER_WHEEL],
cmd_if_conf.names[CMD_STEER_WHEEL],
preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

auto state_intefaces = controller_->state_interface_configuration();
ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());

auto state_if_conf = controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
EXPECT_EQ(
state_intefaces.names[STATE_TRACTION_WHEEL],
state_if_conf.names[STATE_TRACTION_WHEEL],
controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
EXPECT_EQ(
state_intefaces.names[STATE_STEER_AXIS],
state_if_conf.names[STATE_STEER_AXIS],
controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
Expand Down
12 changes: 6 additions & 6 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -247,12 +247,12 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

ASSERT_THAT(
controller_->state_interface_configuration().names,
SizeIs(left_wheel_names.size() + right_wheel_names.size()));
ASSERT_THAT(
controller_->command_interface_configuration().names,
SizeIs(left_wheel_names.size() + right_wheel_names.size()));
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size()));
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_THAT(cmd_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size()));
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
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6 changes: 6 additions & 0 deletions force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,8 +162,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success)
// check interface configuration
auto cmd_if_conf = fts_broadcaster_->command_interface_configuration();
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
auto state_if_conf = fts_broadcaster_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, SizeIs(6lu));
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
}

TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success)
Expand Down Expand Up @@ -196,17 +198,21 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success)
// check interface configuration
auto cmd_if_conf = fts_broadcaster_->command_interface_configuration();
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
auto state_if_conf = fts_broadcaster_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, SizeIs(6lu));
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

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

// check interface configuration
cmd_if_conf = fts_broadcaster_->command_interface_configuration();
ASSERT_THAT(cmd_if_conf.names, IsEmpty());
ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
state_if_conf = fts_broadcaster_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, SizeIs(6lu)); // did not change
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
}

TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success)
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9 changes: 9 additions & 0 deletions forward_command_controller/test/test_forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,7 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess)
ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu));
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, IsEmpty());
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
}

TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails)
Expand Down Expand Up @@ -189,6 +190,7 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess)
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, IsEmpty());
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);

ASSERT_EQ(
controller_->on_activate(rclcpp_lifecycle::State()),
Expand All @@ -197,8 +199,10 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess)
// check interface configuration
cmd_if_conf = controller_->command_interface_configuration();
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, IsEmpty());
ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
}

TEST_F(ForwardCommandControllerTest, CommandSuccessTest)
Expand Down Expand Up @@ -352,15 +356,18 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess)
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, IsEmpty());
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);

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

// check interface configuration
cmd_if_conf = controller_->command_interface_configuration();
ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, IsEmpty());
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);

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

// command ptr should be reset (nullptr) after deactivation - same check as in `update`
ASSERT_FALSE(
Expand Down
2 changes: 2 additions & 0 deletions forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -297,6 +297,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_THAT(state_if_conf.names, IsEmpty());
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);

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

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