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rename unclear variables
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@mamueluth
mamueluth committed Apr 11, 2024
1 parent 0e24e3a commit c3c8718
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Showing 2 changed files with 10 additions and 15 deletions.
8 changes: 4 additions & 4 deletions hardware_interface/test/test_component_interfaces_custom_export.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -244,10 +244,10 @@ TEST(TestComponentInterfaces, dummy_sensor_default_custom_export)
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto listed_interface_size = 1u;
const auto interfaces_sizeze = listed_interface_size + error_signals_size + warnig_signals_size;
const auto interfaces_sizes = listed_interface_size + error_signals_size + warnig_signals_size;
auto state_interfaces = sensor_hw.export_state_interfaces();
// interfaces size + the one unlisted interface "joint1/some_unlisted_interface"
ASSERT_EQ(interfaces_sizeze + 1u, state_interfaces.size());
ASSERT_EQ(interfaces_sizes + 1u, state_interfaces.size());
{
auto [contains, position] =
test_components::vector_contains(state_interfaces, "joint1/voltage");
Expand Down Expand Up @@ -283,10 +283,10 @@ TEST(TestComponentInterfaces, dummy_system_default_custom_export)
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto listed_interface_size = 6u;
const auto interfaces_sizeze = listed_interface_size + report_signals_size;
const auto interfaces_sizes = listed_interface_size + report_signals_size;
auto state_interfaces = system_hw.export_state_interfaces();
// interfaces size + the one unlisted interface "joint1/some_unlisted_interface"
ASSERT_EQ(interfaces_sizeze + 1u, state_interfaces.size());
ASSERT_EQ(interfaces_sizes + 1u, state_interfaces.size());
{
auto [contains, position] =
test_components::vector_contains(state_interfaces, "joint1/position");
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17 changes: 6 additions & 11 deletions hardware_interface/test/test_error_warning_codes.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -383,9 +383,9 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 2;
const auto listed_interface_size = 2;
auto state_interfaces = actuator_hw.export_state_interfaces();
ASSERT_EQ(state_interface_offset + report_signals_size, state_interfaces.size());
ASSERT_EQ(listed_interface_size + report_signals_size, state_interfaces.size());
{
auto [contains, position] =
test_components::vector_contains(state_interfaces, "joint1/position");
Expand Down Expand Up @@ -500,10 +500,10 @@ TEST(TestComponentInterfaces, dummy_sensor_default)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 1;
const auto listed_interface_size = 1;
auto state_interfaces = sensor_hw.export_state_interfaces();
ASSERT_EQ(
state_interface_offset + warnig_signals_size + error_signals_size, state_interfaces.size());
listed_interface_size + warnig_signals_size + error_signals_size, state_interfaces.size());
// check that the normal interfaces get exported as expected
{
auto [contains, position] =
Expand Down Expand Up @@ -586,9 +586,9 @@ TEST(TestComponentInterfaces, dummy_system_default)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 6;
const auto listed_interface_size = 6;
auto state_interfaces = system_hw.export_state_interfaces();
ASSERT_EQ(state_interface_offset + report_signals_size, state_interfaces.size());
ASSERT_EQ(listed_interface_size + report_signals_size, state_interfaces.size());
{
auto [contains, position] =
test_components::vector_contains(state_interfaces, "joint1/position");
Expand Down Expand Up @@ -754,7 +754,6 @@ TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 2;
auto state_interfaces = actuator_hw.export_state_interfaces();
auto command_interfaces = actuator_hw.export_command_interfaces();
state = actuator_hw.configure();
Expand Down Expand Up @@ -885,7 +884,6 @@ TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 2;
auto state_interfaces = actuator_hw.export_state_interfaces();
auto command_interfaces = actuator_hw.export_command_interfaces();
state = actuator_hw.configure();
Expand Down Expand Up @@ -992,7 +990,6 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
const hardware_interface::HardwareInfo voltage_sensor_res = control_resources[0];
auto state = sensor_hw.initialize(voltage_sensor_res);

const auto state_interface_offset = 1;
auto state_interfaces = sensor_hw.export_state_interfaces();
// Updated because is is INACTIVE
state = sensor_hw.configure();
Expand Down Expand Up @@ -1089,7 +1086,6 @@ TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 6;
auto state_interfaces = system_hw.export_state_interfaces();
auto command_interfaces = system_hw.export_command_interfaces();
state = system_hw.configure();
Expand Down Expand Up @@ -1221,7 +1217,6 @@ TEST(TestComponentInterfaces, dummy_system_default_write_error_behavior)
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());

const auto state_interface_offset = 6;
auto state_interfaces = system_hw.export_state_interfaces();
auto command_interfaces = system_hw.export_command_interfaces();
state = system_hw.configure();
Expand Down

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