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Shorten test
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@bmagyar
bmagyar committed Nov 6, 2023
1 parent 2410274 commit 25e3de4
Showing 1 changed file with 30 additions and 65 deletions.
95 changes: 30 additions & 65 deletions hardware_interface/test/mock_components/test_generic_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1945,75 +1945,40 @@ TEST_F(TestGenericSystem, disabled_commands_flag_is_active)

TEST_F(TestGenericSystem, prepare_command_mode_switch_works_with_all_example_tags)
{
auto check_prepare_command_mode_switch_works = [](const std::string & urdf)
auto check_prepare_command_mode_switch = [&](const std::string & urdf)
{
TestableResourceManager rm(urdf);
TestableResourceManager rm(
ros2_control_test_assets::urdf_head + urdf + ros2_control_test_assets::urdf_tail);
auto start_interfaces = rm.command_interface_keys();
std::vector<std::string> stop_interfaces;
return rm.prepare_command_mode_switch(start_interfaces, stop_interfaces);
};

ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_asymetric_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_standard_interfaces_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_with_other_interface_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_True_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_with_mimic_joint_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + hardware_system_2dof_standard_interfaces_with_offset_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head +
hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head +
hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + valid_urdf_ros2_control_system_robot_with_gpio_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head +
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head +
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + sensor_with_initial_value_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + gpio_with_initial_value_ +
ros2_control_test_assets::urdf_tail));
ASSERT_FALSE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head +
hardware_system_2dof_standard_interfaces_with_different_control_modes_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head +
valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch_works(
ros2_control_test_assets::urdf_head + disabled_commands_ +
ros2_control_test_assets::urdf_tail));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_asymetric_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_standard_interfaces_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_other_interface_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_sensor_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_sensor_mock_command_));
ASSERT_TRUE(
check_prepare_command_mode_switch(hardware_system_2dof_with_sensor_mock_command_True_));
ASSERT_TRUE(check_prepare_command_mode_switch(hardware_system_2dof_with_mimic_joint_));
ASSERT_TRUE(
check_prepare_command_mode_switch(hardware_system_2dof_standard_interfaces_with_offset_));
ASSERT_TRUE(check_prepare_command_mode_switch(
hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_));
ASSERT_TRUE(check_prepare_command_mode_switch(
hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_));
ASSERT_TRUE(check_prepare_command_mode_switch(valid_urdf_ros2_control_system_robot_with_gpio_));
ASSERT_TRUE(check_prepare_command_mode_switch(
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_));
ASSERT_TRUE(check_prepare_command_mode_switch(
valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_));
ASSERT_TRUE(check_prepare_command_mode_switch(sensor_with_initial_value_));
ASSERT_TRUE(check_prepare_command_mode_switch(gpio_with_initial_value_));
ASSERT_FALSE(check_prepare_command_mode_switch(
hardware_system_2dof_standard_interfaces_with_different_control_modes_));
ASSERT_TRUE(check_prepare_command_mode_switch(
valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_));
ASSERT_TRUE(check_prepare_command_mode_switch(disabled_commands_));
}

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