Adapt test to new way of exporting reference interfaces (Related to #…

…1240 in ros2_control) (#1103) --------- Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Oct 7, 2024 · 9c5be9f · 9c5be9f
1 parent 1004054
commit 9c5be9f
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Showing 9 changed files with 30 additions and 30 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -89,9 +89,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp
@@ -91,9 +91,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -73,9 +73,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp
@@ -77,9 +77,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp
@@ -97,9 +97,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)
     {
       const std::string ref_itf_name =
         std::string(controller_->get_node()->get_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);
+      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;
     }
   }

diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp
@@ -84,9 +84,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)
     {
       const std::string ref_itf_name =
         std::string(controller_->get_node()->get_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);
+      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;
     }
   }
@@ -101,10 +101,10 @@ TEST_F(PidControllerTest, check_exported_interfaces)
     {
       const std::string state_itf_name =
         std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
-      EXPECT_EQ(exported_state_itfs[esi_index].get_name(), state_itf_name);
+      EXPECT_EQ(exported_state_itfs[esi_index]->get_name(), state_itf_name);
       EXPECT_EQ(
-        exported_state_itfs[esi_index].get_prefix_name(), controller_->get_node()->get_name());
-      EXPECT_EQ(exported_state_itfs[esi_index].get_interface_name(), dof_name + "/" + interface);
+        exported_state_itfs[esi_index]->get_prefix_name(), controller_->get_node()->get_name());
+      EXPECT_EQ(exported_state_itfs[esi_index]->get_interface_name(), dof_name + "/" + interface);
       ++esi_index;
     }
   }

diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp
@@ -70,9 +70,9 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
@@ -81,9 +81,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);
-    EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp
@@ -84,9 +84,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);
-    EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }