change get_lifecycle_state to get_state

ros-controls · Dec 3, 2024 · 274d81e · 274d81e
1 parent 825ebfa
commit 274d81e
Showing 1 changed file with 9 additions and 13 deletions.
diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -241,7 +241,7 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
   ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
   ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
-    ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
+    ctrl_with_parameters_and_type.c->get_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   ASSERT_EQ(
     cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string(), test_file_path);
@@ -927,7 +927,7 @@ TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)
   ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
   ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
-    ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
+    ctrl_with_parameters_and_type.c->get_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   auto params_file_info =
     cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array();
@@ -941,7 +941,7 @@ TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)
     chain_ctrl_with_parameters_and_type.info.type,
     test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
-    chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
+    chain_ctrl_with_parameters_and_type.c->get_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   params_file_info =
     cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string_array();
@@ -951,17 +951,15 @@ TEST_F(TestLoadController, spawner_test_parsing_multiple_params_file)
   auto ctrl_2 = cm_->get_loaded_controllers()[2];
   ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
   ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(
-    ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+  ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   params_file_info = cm_->get_parameter("ctrl_2.params_file").as_string_array();
   ASSERT_EQ(params_file_info.size(), 1ul);
   ASSERT_EQ(params_file_info[0], fallback_test_file_path);
 
   auto ctrl_1 = cm_->get_loaded_controllers()[3];
   ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
   ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(
-    ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+  ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   params_file_info = cm_->get_parameter("ctrl_1.params_file").as_string_array();
   ASSERT_EQ(params_file_info.size(), 1ul);
   ASSERT_EQ(params_file_info[0], fallback_test_file_path);
@@ -995,7 +993,7 @@ TEST_F(TestLoadController, spawner_test_parsing_same_params_file_multiple_times)
   ASSERT_EQ(ctrl_with_parameters_and_type.info.name, "ctrl_with_parameters_and_type");
   ASSERT_EQ(ctrl_with_parameters_and_type.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
-    ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
+    ctrl_with_parameters_and_type.c->get_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   auto params_file_info =
     cm_->get_parameter("ctrl_with_parameters_and_type.params_file").as_string_array();
@@ -1009,7 +1007,7 @@ TEST_F(TestLoadController, spawner_test_parsing_same_params_file_multiple_times)
     chain_ctrl_with_parameters_and_type.info.type,
     test_chainable_controller::TEST_CONTROLLER_CLASS_NAME);
   ASSERT_EQ(
-    chain_ctrl_with_parameters_and_type.c->get_lifecycle_state().id(),
+    chain_ctrl_with_parameters_and_type.c->get_state().id(),
     lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   params_file_info =
     cm_->get_parameter("chainable_ctrl_with_parameters_and_type.params_file").as_string_array();
@@ -1019,17 +1017,15 @@ TEST_F(TestLoadController, spawner_test_parsing_same_params_file_multiple_times)
   auto ctrl_2 = cm_->get_loaded_controllers()[2];
   ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
   ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(
-    ctrl_2.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+  ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   params_file_info = cm_->get_parameter("ctrl_2.params_file").as_string_array();
   ASSERT_EQ(params_file_info.size(), 1ul);
   ASSERT_EQ(params_file_info[0], fallback_test_file_path);
 
   auto ctrl_1 = cm_->get_loaded_controllers()[3];
   ASSERT_EQ(ctrl_1.info.name, "ctrl_1");
   ASSERT_EQ(ctrl_1.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(
-    ctrl_1.c->get_lifecycle_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
+  ASSERT_EQ(ctrl_1.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
   params_file_info = cm_->get_parameter("ctrl_1.params_file").as_string_array();
   ASSERT_EQ(params_file_info.size(), 1ul);
   ASSERT_EQ(params_file_info[0], fallback_test_file_path);