Fix formatting and tests.

ros-controls · Jan 9, 2024 · 2aa0d02 · 2aa0d02
1 parent ca60064
commit 2aa0d02
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Showing 4 changed files with 31 additions and 14 deletions.
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
@@ -218,8 +218,9 @@ const rclcpp_lifecycle::State & Actuator::get_state() const { return impl_->get_
 
 return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
-      impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
   {
     return return_type::OK;
   }
@@ -239,8 +240,9 @@ return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & p
 
 return_type Actuator::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
-      impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
   {
     return return_type::OK;
   }

diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
@@ -195,8 +195,9 @@ const rclcpp_lifecycle::State & Sensor::get_state() const { return impl_->get_st
 
 return_type Sensor::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
-      impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
   {
     return return_type::OK;
   }

diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
@@ -214,8 +214,9 @@ const rclcpp_lifecycle::State & System::get_state() const { return impl_->get_st
 
 return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
-      impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
   {
     return return_type::OK;
   }
@@ -235,8 +236,9 @@ return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & per
 
 return_type System::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
-      impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
+  if (
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
+    impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
   {
     return return_type::OK;
   }

diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
@@ -496,12 +496,12 @@ TEST(TestComponentInterfaces, dummy_actuator)
   // Noting should change because it is FINALIZED
   for (auto step = 0u; step < 10; ++step)
   {
-    ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.read(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.read(TIME, PERIOD));
 
     EXPECT_EQ(20 * velocity_value, state_interfaces[0].get_value());  // position value
     EXPECT_EQ(0, state_interfaces[1].get_value());                    // velocity
 
-    ASSERT_EQ(hardware_interface::return_type::ERROR, actuator_hw.write(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, actuator_hw.write(TIME, PERIOD));
   }
 
   EXPECT_EQ(
@@ -649,7 +649,7 @@ TEST(TestComponentInterfaces, dummy_system)
   // Noting should change because it is FINALIZED
   for (auto step = 0u; step < 10; ++step)
   {
-    ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.read(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, system_hw.read(TIME, PERIOD));
 
     EXPECT_EQ(20 * velocity_value, state_interfaces[0].get_value());  // position value
     EXPECT_EQ(0.0, state_interfaces[1].get_value());                  // velocity
@@ -658,7 +658,7 @@ TEST(TestComponentInterfaces, dummy_system)
     EXPECT_EQ(20 * velocity_value, state_interfaces[4].get_value());  // position value
     EXPECT_EQ(0.0, state_interfaces[5].get_value());                  // velocity
 
-    ASSERT_EQ(hardware_interface::return_type::ERROR, system_hw.write(TIME, PERIOD));
+    ASSERT_EQ(hardware_interface::return_type::OK, system_hw.write(TIME, PERIOD));
   }
 
   EXPECT_EQ(hardware_interface::return_type::OK, system_hw.prepare_command_mode_switch({}, {}));
@@ -841,6 +841,12 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
 
+  // Noting should change because it is UNCONFIGURED
+  for (auto step = 0u; step < 10; ++step)
+  {
+    ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD));
+  }
+
   // activate again and expect reset values
   state = sensor_hw.configure();
   EXPECT_EQ(state_interfaces[0].get_value(), 0.0);
@@ -860,6 +866,12 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::FINALIZED, state.label());
 
+  // Noting should change because it is FINALIZED
+  for (auto step = 0u; step < 10; ++step)
+  {
+    ASSERT_EQ(hardware_interface::return_type::OK, sensor_hw.read(TIME, PERIOD));
+  }
+
   // can not change state anymore
   state = sensor_hw.configure();
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED, state.id());