From b6a78192b84dc4fa00351fb44f5de13f3cceedfb Mon Sep 17 00:00:00 2001 From: Manuel M Date: Fri, 26 Jul 2024 09:57:15 +0200 Subject: [PATCH] fix test failures --- .../src/chainable_controller_interface.cpp | 6 +++--- .../test/test_chainable_controller_interface.cpp | 14 ++++++++++---- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp index 9a5916b8b34..d7cf82f32ed 100644 --- a/controller_interface/src/chainable_controller_interface.cpp +++ b/controller_interface/src/chainable_controller_interface.cpp @@ -57,9 +57,9 @@ ChainableControllerInterface::export_state_interfaces() if (interface.get_prefix_name() != get_node()->get_name()) { std::string error_msg = - "The name of the interface '" + interface.get_name() + - "' does not begin with the controller's name. This is " - "mandatory for state interfaces. No state interface will be exported. Please " + "The prefix of the interface '" + interface.get_prefix_name() + + "' does not equal the controller's name '" + get_node()->get_name() + + "'. This is mandatory for state interfaces. No state interface will be exported. Please " "correct and recompile the controller with name '" + get_node()->get_name() + "' and try again."; throw std::runtime_error(error_msg); diff --git a/controller_interface/test/test_chainable_controller_interface.cpp b/controller_interface/test/test_chainable_controller_interface.cpp index d7075a0157d..8918b7178e0 100644 --- a/controller_interface/test/test_chainable_controller_interface.cpp +++ b/controller_interface/test/test_chainable_controller_interface.cpp @@ -15,6 +15,7 @@ #include "test_chainable_controller_interface.hpp" #include +#include using ::testing::IsEmpty; using ::testing::SizeIs; @@ -51,7 +52,7 @@ TEST_F(ChainableControllerInterfaceTest, export_state_interfaces) EXPECT_EQ(exported_state_interfaces[0]->get_prefix_name(), TEST_CONTROLLER_NAME); EXPECT_EQ(exported_state_interfaces[0]->get_interface_name(), "test_state"); - EXPECT_EQ(exported_state_interfaces[0]->get_value(), INTERFACE_VALUE); + EXPECT_EQ(exported_state_interfaces[0]->get_value(), EXPORTED_STATE_INTERFACE_VALUE); } TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces) @@ -88,10 +89,15 @@ TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name) controller.set_name_prefix_of_reference_interfaces("some_not_correct_interface_prefix"); // expect empty return because interface prefix is not equal to the node name - auto reference_interfaces = controller.export_reference_interfaces(); - ASSERT_THAT(reference_interfaces, IsEmpty()); + std::vector> exported_reference_interfaces; + EXPECT_THROW( + { exported_reference_interfaces = controller.export_reference_interfaces(); }, + std::runtime_error); + ASSERT_THAT(exported_reference_interfaces, IsEmpty()); // expect empty return because interface prefix is not equal to the node name - auto exported_state_interfaces = controller.export_state_interfaces(); + std::vector> exported_state_interfaces; + EXPECT_THROW( + { exported_state_interfaces = controller.export_state_interfaces(); }, std::runtime_error); ASSERT_THAT(exported_state_interfaces, IsEmpty()); }