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Check interface_configuration_type for other ctrls
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@christophfroehlich
christophfroehlich committed Jan 11, 2024
1 parent 678cc1f commit 8cac8cc
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Showing 16 changed files with 153 additions and 139 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 @@ -157,12 +157,15 @@ 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(),
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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();
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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);
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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();
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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 @@ -249,12 +249,12 @@ 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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12 changes: 6 additions & 6 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,13 +120,13 @@ TEST_P(TrajectoryControllerTestParameterized, activate)
auto state = traj_controller_->get_node()->configure();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);

auto cmd_interface_config = traj_controller_->command_interface_configuration();
ASSERT_EQ(
cmd_interface_config.names.size(), joint_names_.size() * command_interface_types_.size());
auto cmd_if_conf = traj_controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), joint_names_.size() * command_interface_types_.size());
EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

auto state_interface_config = traj_controller_->state_interface_configuration();
ASSERT_EQ(
state_interface_config.names.size(), joint_names_.size() * state_interface_types_.size());
auto state_if_conf = traj_controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), joint_names_.size() * state_interface_types_.size());
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

state = ActivateTrajectoryController();
ASSERT_EQ(state.id(), State::PRIMARY_STATE_ACTIVE);
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29 changes: 15 additions & 14 deletions pid_controller/test/test_pid_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,45 +61,46 @@ TEST_F(PidControllerTest, all_parameters_set_configure_success)
ASSERT_FALSE(controller_->params_.use_external_measured_states);
}

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

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

auto command_interfaces = controller_->command_interface_configuration();
ASSERT_EQ(command_interfaces.names.size(), dof_command_values_.size());
for (size_t i = 0; i < command_interfaces.names.size(); ++i)
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), dof_command_values_.size());
for (size_t i = 0; i < cmd_if_conf.names.size(); ++i)
{
EXPECT_EQ(command_interfaces.names[i], dof_names_[i] + "/" + command_interface_);
EXPECT_EQ(cmd_if_conf.names[i], dof_names_[i] + "/" + command_interface_);
}
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(), dof_state_values_.size());
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), dof_state_values_.size());
size_t si_index = 0;
for (const auto & interface : state_interfaces_)
{
for (const auto & dof_name : dof_names_)
{
EXPECT_EQ(state_intefaces.names[si_index], dof_name + "/" + interface);
EXPECT_EQ(state_if_conf.names[si_index], dof_name + "/" + interface);
++si_index;
}
}
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), dof_state_values_.size());
auto ref_if_conf = controller_->export_reference_interfaces();
ASSERT_EQ(ref_if_conf.size(), dof_state_values_.size());
size_t ri_index = 0;
for (const auto & interface : state_interfaces_)
{
for (const auto & dof_name : dof_names_)
{
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
EXPECT_EQ(reference_interfaces[ri_index].get_name(), ref_itf_name);
EXPECT_EQ(
reference_interfaces[ri_index].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[ri_index].get_interface_name(), dof_name + "/" + interface);
EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);
EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);
++ri_index;
}
}
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29 changes: 15 additions & 14 deletions pid_controller/test/test_pid_controller_preceding.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,45 +49,46 @@ TEST_F(PidControllerTest, all_parameters_set_configure_success)
ASSERT_EQ(controller_->params_.command_interface, command_interface_);
}

TEST_F(PidControllerTest, check_exported_intefaces)
TEST_F(PidControllerTest, 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(), dof_command_values_.size());
for (size_t i = 0; i < command_intefaces.names.size(); ++i)
auto cmd_if_conf = controller_->command_interface_configuration();
ASSERT_EQ(cmd_if_conf.names.size(), dof_command_values_.size());
for (size_t i = 0; i < cmd_if_conf.names.size(); ++i)
{
EXPECT_EQ(command_intefaces.names[i], dof_names_[i] + "/" + command_interface_);
EXPECT_EQ(cmd_if_conf.names[i], dof_names_[i] + "/" + command_interface_);
}
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(), dof_state_values_.size());
auto state_if_conf = controller_->state_interface_configuration();
ASSERT_EQ(state_if_conf.names.size(), dof_state_values_.size());
size_t si_index = 0;
for (const auto & interface : state_interfaces_)
{
for (const auto & dof_name : reference_and_state_dof_names_)
{
EXPECT_EQ(state_intefaces.names[si_index], dof_name + "/" + interface);
EXPECT_EQ(state_if_conf.names[si_index], dof_name + "/" + interface);
++si_index;
}
}
EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);

// check ref itfs
auto reference_interfaces = controller_->export_reference_interfaces();
ASSERT_EQ(reference_interfaces.size(), dof_state_values_.size());
auto ref_if_conf = controller_->export_reference_interfaces();
ASSERT_EQ(ref_if_conf.size(), dof_state_values_.size());
size_t ri_index = 0;
for (const auto & interface : state_interfaces_)
{
for (const auto & dof_name : reference_and_state_dof_names_)
{
const std::string ref_itf_name =
std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
EXPECT_EQ(reference_interfaces[ri_index].get_name(), ref_itf_name);
EXPECT_EQ(
reference_interfaces[ri_index].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(reference_interfaces[ri_index].get_interface_name(), dof_name + "/" + interface);
EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);
EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());
EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);
++ri_index;
}
}
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