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Avoid shadowing and small cosmetic changes.
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@destogl
destogl committed Jan 26, 2024
1 parent f6db2c1 commit 468c85a
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Showing 2 changed files with 37 additions and 37 deletions.
10 changes: 5 additions & 5 deletions hardware_interface_testing/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,18 +20,18 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
endforeach()

add_library(test_components SHARED
test/test_components/test_actuator.cpp
test/test_components/test_sensor.cpp
test/test_components/test_system.cpp)
test/test_components/test_actuator.cpp
test/test_components/test_sensor.cpp
test/test_components/test_system.cpp
)
ament_target_dependencies(test_components hardware_interface pluginlib ros2_control_test_assets)
install(TARGETS test_components
DESTINATION lib
DESTINATION lib
)
pluginlib_export_plugin_description_file(
hardware_interface test/test_components/test_components.xml)

if(BUILD_TESTING)

find_package(ament_cmake_gmock REQUIRED)

ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
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64 changes: 32 additions & 32 deletions hardware_interface_testing/test/test_resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -233,73 +233,73 @@ TEST_F(ResourceManagerTest, resource_claiming)
// Activate components to get all interfaces available
activate_components(rm);

const auto key = "joint1/position";
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
const auto command_interface = "joint1/position";
EXPECT_TRUE(rm.command_interface_is_available(command_interface));
EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));

{
auto position_command_interface = rm.claim_command_interface(key);
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_TRUE(rm.command_interface_is_claimed(key));
auto position_command_interface = rm.claim_command_interface(command_interface);
EXPECT_TRUE(rm.command_interface_is_available(command_interface));
EXPECT_TRUE(rm.command_interface_is_claimed(command_interface));
{
EXPECT_ANY_THROW(rm.claim_command_interface(key));
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_ANY_THROW(rm.claim_command_interface(command_interface));
EXPECT_TRUE(rm.command_interface_is_available(command_interface));
}
}
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
EXPECT_TRUE(rm.command_interface_is_available(command_interface));
EXPECT_FALSE(rm.command_interface_is_claimed(command_interface));

// command interfaces can only be claimed once
for (const auto & key :
for (const auto & interface_key :
{"joint1/position", "joint1/position", "joint1/position", "joint2/velocity",
"joint3/velocity"})
{
{
auto interface = rm.claim_command_interface(key);
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_TRUE(rm.command_interface_is_claimed(key));
auto interface = rm.claim_command_interface(interface_key);
EXPECT_TRUE(rm.command_interface_is_available(interface_key));
EXPECT_TRUE(rm.command_interface_is_claimed(interface_key));
{
EXPECT_ANY_THROW(rm.claim_command_interface(key));
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_ANY_THROW(rm.claim_command_interface(interface_key));
EXPECT_TRUE(rm.command_interface_is_available(interface_key));
}
}
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
EXPECT_TRUE(rm.command_interface_is_available(interface_key));
EXPECT_FALSE(rm.command_interface_is_claimed(interface_key));
}

// TODO(destogl): This claim test is not true.... can not be...
// state interfaces can be claimed multiple times
for (const auto & key :
for (const auto & interface_key :
{"joint1/position", "joint1/velocity", "sensor1/velocity", "joint2/position",
"joint3/position"})
{
{
EXPECT_TRUE(rm.state_interface_is_available(key));
auto interface = rm.claim_state_interface(key);
EXPECT_TRUE(rm.state_interface_is_available(interface_key));
auto interface = rm.claim_state_interface(interface_key);
{
EXPECT_TRUE(rm.state_interface_is_available(key));
EXPECT_NO_THROW(rm.claim_state_interface(key));
EXPECT_TRUE(rm.state_interface_is_available(interface_key));
EXPECT_NO_THROW(rm.claim_state_interface(interface_key));
}
}
}

std::vector<hardware_interface::LoanedCommandInterface> interfaces;
const auto interface_names = {"joint1/position", "joint2/velocity", "joint3/velocity"};
for (const auto & key : interface_names)
for (const auto & interface : interface_names)
{
EXPECT_TRUE(rm.command_interface_is_available(key));
interfaces.emplace_back(rm.claim_command_interface(key));
EXPECT_TRUE(rm.command_interface_is_available(interface));
interfaces.emplace_back(rm.claim_command_interface(interface));
}
for (const auto & key : interface_names)
for (const auto & interface : interface_names)
{
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_TRUE(rm.command_interface_is_claimed(key));
EXPECT_TRUE(rm.command_interface_is_available(interface));
EXPECT_TRUE(rm.command_interface_is_claimed(interface));
}
interfaces.clear();
for (const auto & key : interface_names)
for (const auto & interface : interface_names)
{
EXPECT_TRUE(rm.command_interface_is_available(key));
EXPECT_FALSE(rm.command_interface_is_claimed(key));
EXPECT_TRUE(rm.command_interface_is_available(interface));
EXPECT_FALSE(rm.command_interface_is_claimed(interface));
}
}

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