From 418e47ae0f002f0da73a17eff770b4ede046d17c Mon Sep 17 00:00:00 2001 From: baila Date: Tue, 5 Mar 2024 21:28:42 +0530 Subject: [PATCH] Correcting clang format and test case --- .../test/test_cleanup_controller.cpp | 26 ++++++++++++------- 1 file changed, 16 insertions(+), 10 deletions(-) diff --git a/controller_manager/test/test_cleanup_controller.cpp b/controller_manager/test/test_cleanup_controller.cpp index d2f52a062b..bed152ac39 100644 --- a/controller_manager/test/test_cleanup_controller.cpp +++ b/controller_manager/test/test_cleanup_controller.cpp @@ -37,17 +37,19 @@ class TestCleanupController : public ControllerManagerFixturecleanup_controller("unknown_controller_name"), controller_interface::return_type::ERROR); + ASSERT_EQ( + cm_->cleanup_controller("unknown_controller_name"), controller_interface::return_type::ERROR); } TEST_F(TestCleanupController, cleanup_controller_failed_init) { - auto controller_if = - cm_->load_controller( - "test_controller_failed_init", - test_controller_failed_init::TEST_CONTROLLER_FAILED_INIT_CLASS_NAME); + auto controller_if = cm_->load_controller( + "test_controller_failed_init", + test_controller_failed_init::TEST_CONTROLLER_FAILED_INIT_CLASS_NAME); - ASSERT_EQ(cm_->cleanup_controller("test_controller_failed_init"), controller_interface::return_type::ERROR); + ASSERT_EQ( + cm_->cleanup_controller("test_controller_failed_init"), + controller_interface::return_type::ERROR); } TEST_F(TestCleanupController, cleanup_non_loaded_controller_fails) @@ -65,7 +67,8 @@ TEST_F(TestCleanupController, cleanup_unconfigured_controller) ASSERT_EQ( lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); ASSERT_EQ(cm_->cleanup_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); + EXPECT_EQ( + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); } TEST_F(TestCleanupController, cleanup_inactive_controller) @@ -80,7 +83,8 @@ TEST_F(TestCleanupController, cleanup_inactive_controller) EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id()); ASSERT_EQ(cm_->cleanup_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); + EXPECT_EQ( + lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); } TEST_F(TestCleanupController, cleanup_active_controller) @@ -97,6 +101,8 @@ TEST_F(TestCleanupController, cleanup_active_controller) switch_test_controllers(strvec{CONTROLLER_NAME_1}, strvec{}, STRICT); - ASSERT_EQ(cm_->cleanup_controller(CONTROLLER_NAME_1), controller_interface::return_type::OK); - EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, controller_if->get_state().id()); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id()); + + ASSERT_EQ(cm_->cleanup_controller(CONTROLLER_NAME_1), controller_interface::return_type::ERROR); + EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, controller_if->get_state().id()); }