Create a function to reuse for tests

ros-controls · Nov 27, 2023 · 6b99228 · 6b99228
1 parent 10d6aef
commit 6b99228
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Showing 2 changed files with 45 additions and 63 deletions.
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -26,8 +26,6 @@
 #include <thread>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "builtin_interfaces/msg/duration.hpp"
 #include "builtin_interfaces/msg/time.hpp"
 #include "controller_interface/controller_interface.hpp"
@@ -103,77 +101,20 @@ TEST_P(TrajectoryControllerTestParameterized, check_interface_names)
   const auto state = traj_controller_->get_node()->configure();
   ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
 
-  std::vector<std::string> state_interface_names;
-  state_interface_names.reserve(joint_names_.size() * state_interface_types_.size());
-  for (const auto & joint : joint_names_)
-  {
-    for (const auto & interface : state_interface_types_)
-    {
-      state_interface_names.push_back(joint + "/" + interface);
-    }
-  }
-  auto state_interfaces = traj_controller_->state_interface_configuration();
-  EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
-  EXPECT_EQ(state_interfaces.names.size(), joint_names_.size() * state_interface_types_.size());
-  ASSERT_THAT(state_interfaces.names, testing::UnorderedElementsAreArray(state_interface_names));
-
-  std::vector<std::string> command_interface_names;
-  command_interface_names.reserve(joint_names_.size() * command_interface_types_.size());
-  for (const auto & joint : joint_names_)
-  {
-    for (const auto & interface : command_interface_types_)
-    {
-      command_interface_names.push_back(joint + "/" + interface);
-    }
-  }
-  auto command_interfaces = traj_controller_->command_interface_configuration();
-  EXPECT_EQ(
-    command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
-  EXPECT_EQ(command_interfaces.names.size(), joint_names_.size() * command_interface_types_.size());
-  ASSERT_THAT(
-    command_interfaces.names, testing::UnorderedElementsAreArray(command_interface_names));
+  compare_joints(joint_names_, joint_names_);
 }
 
 TEST_P(TrajectoryControllerTestParameterized, check_interface_names_with_command_joints)
 {
   rclcpp::executors::MultiThreadedExecutor executor;
-  // set command_joints parameter
+  // set command_joints parameter different than joint_names_
   const rclcpp::Parameter command_joint_names_param("command_joints", command_joint_names_);
   SetUpTrajectoryController(executor, {command_joint_names_param});
 
   const auto state = traj_controller_->get_node()->configure();
   ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
 
-  std::vector<std::string> state_interface_names;
-  state_interface_names.reserve(joint_names_.size() * state_interface_types_.size());
-  for (const auto & joint : joint_names_)
-  {
-    for (const auto & interface : state_interface_types_)
-    {
-      state_interface_names.push_back(joint + "/" + interface);
-    }
-  }
-  auto state_interfaces = traj_controller_->state_interface_configuration();
-  EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
-  EXPECT_EQ(state_interfaces.names.size(), joint_names_.size() * state_interface_types_.size());
-  ASSERT_THAT(state_interfaces.names, testing::UnorderedElementsAreArray(state_interface_names));
-
-  std::vector<std::string> command_interface_names;
-  command_interface_names.reserve(command_joint_names_.size() * command_interface_types_.size());
-  for (const auto & joint : command_joint_names_)
-  {
-    for (const auto & interface : command_interface_types_)
-    {
-      command_interface_names.push_back(joint + "/" + interface);
-    }
-  }
-  auto command_interfaces = traj_controller_->command_interface_configuration();
-  EXPECT_EQ(
-    command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
-  EXPECT_EQ(
-    command_interfaces.names.size(), command_joint_names_.size() * command_interface_types_.size());
-  ASSERT_THAT(
-    command_interfaces.names, testing::UnorderedElementsAreArray(command_interface_names));
+  compare_joints(joint_names_, command_joint_names_);
 }
 
 TEST_P(TrajectoryControllerTestParameterized, activate)

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -21,7 +21,7 @@
 #include <utility>
 #include <vector>
 
-#include "gtest/gtest.h"
+#include "gmock/gmock.h"
 
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
@@ -623,6 +623,47 @@ class TrajectoryControllerTest : public ::testing::Test
     }
   }
 
+  /**
+   * @brief compares the joint names and interface types of the controller with the given ones
+   */
+  void compare_joints(
+    std::vector<std::string> state_joint_names, std::vector<std::string> command_joint_names)
+  {
+    std::vector<std::string> state_interface_names;
+    state_interface_names.reserve(state_joint_names.size() * state_interface_types_.size());
+    for (const auto & joint : state_joint_names)
+    {
+      for (const auto & interface : state_interface_types_)
+      {
+        state_interface_names.push_back(joint + "/" + interface);
+      }
+    }
+    auto state_interfaces = traj_controller_->state_interface_configuration();
+    EXPECT_EQ(
+      state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
+    EXPECT_EQ(
+      state_interfaces.names.size(), state_joint_names.size() * state_interface_types_.size());
+    ASSERT_THAT(state_interfaces.names, testing::UnorderedElementsAreArray(state_interface_names));
+
+    std::vector<std::string> command_interface_names;
+    command_interface_names.reserve(command_joint_names.size() * command_interface_types_.size());
+    for (const auto & joint : command_joint_names)
+    {
+      for (const auto & interface : command_interface_types_)
+      {
+        command_interface_names.push_back(joint + "/" + interface);
+      }
+    }
+    auto command_interfaces = traj_controller_->command_interface_configuration();
+    EXPECT_EQ(
+      command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
+    EXPECT_EQ(
+      command_interfaces.names.size(),
+      command_joint_names.size() * command_interface_types_.size());
+    ASSERT_THAT(
+      command_interfaces.names, testing::UnorderedElementsAreArray(command_interface_names));
+  }
+
   std::string controller_name_;
 
   std::vector<std::string> joint_names_;