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Nandostream11Nandostream11
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snake_casing the struct, refactored gps_sensor_broadcaster
1 parent e1d3bee commit 3ed0cc8

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2 files changed

+58
-79
lines changed

2 files changed

+58
-79
lines changed

‎gpio_controllers/test/test_gpio_command_controller.cpp‎

Lines changed: 34 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -199,9 +199,17 @@ class GpioCommandControllerTestSuite : public ::testing::Test
199199

200200
std::unique_ptr<FriendGpioCommandController> controller_;
201201

202-
controller_interface::ControllerInterfaceParams createDefaultParams(
203-
const rclcpp::NodeOptions & node_options, const std::string & robot_description = "");
204-
202+
controller_interface::ControllerInterfaceParams create_default_params(
203+
const rclcpp::NodeOptions & node_options, const std::string & robot_description = "")
204+
{
205+
controller_interface::ControllerInterfaceParams params;
206+
params.controller_name = "test_gpio_command_controller";
207+
params.robot_description = robot_description;
208+
params.update_rate = 0;
209+
params.node_namespace = "";
210+
params.node_options = node_options;
211+
return params;
212+
}
205213
const std::vector<std::string> gpio_names{"gpio1", "gpio2"};
206214
std::vector<double> gpio_commands{1.0, 0.0, 3.1};
207215
std::vector<double> gpio_states{1.0, 0.0, 3.1};
@@ -221,21 +229,10 @@ class GpioCommandControllerTestSuite : public ::testing::Test
221229
std::make_shared<StateInterface>(gpio_names.at(1), "ana.1", &gpio_states.at(2));
222230
std::unique_ptr<rclcpp::Node> node;
223231
};
224-
controller_interface::ControllerInterfaceParams GpioCommandControllerTestSuite::createDefaultParams(
225-
const rclcpp::NodeOptions & node_options, const std::string & robot_description)
226-
{
227-
controller_interface::ControllerInterfaceParams params;
228-
params.controller_name = "test_gpio_command_controller";
229-
params.robot_description = robot_description;
230-
params.update_rate = 0;
231-
params.node_namespace = "";
232-
params.node_options = node_options;
233-
return params;
234-
}
235232

236233
TEST_F(GpioCommandControllerTestSuite, WhenNoParametersAreSetInitShouldFail)
237234
{
238-
const auto result = controller_->init(createDefaultParams(
235+
const auto result = controller_->init(create_default_params(
239236
controller_->define_custom_node_options(), ros2_control_test_assets::minimal_robot_urdf));
240237
ASSERT_EQ(result, controller_interface::return_type::ERROR);
241238
}
@@ -244,7 +241,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenGpiosParameterIsEmptyInitShouldFail)
244241
{
245242
const auto node_options =
246243
create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{}}});
247-
const auto result = controller_->init(createDefaultParams(node_options));
244+
const auto result = controller_->init(create_default_params(node_options));
248245

249246
ASSERT_EQ(result, controller_interface::return_type::ERROR);
250247
}
@@ -255,7 +252,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsEmptyInit
255252
{{"gpios", std::vector<std::string>{"gpio1"}},
256253
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
257254
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
258-
const auto result = controller_->init(createDefaultParams(node_options));
255+
const auto result = controller_->init(create_default_params(node_options));
259256

260257
ASSERT_EQ(result, controller_interface::return_type::OK);
261258
}
@@ -264,7 +261,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsNotSetIni
264261
{
265262
const auto node_options =
266263
create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{"gpio1"}}});
267-
const auto result = controller_->init(createDefaultParams(node_options));
264+
const auto result = controller_->init(create_default_params(node_options));
268265

269266
ASSERT_EQ(result, controller_interface::return_type::OK);
270267
}
@@ -280,7 +277,7 @@ TEST_F(
280277
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
281278
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
282279

283-
const auto result = controller_->init(createDefaultParams(node_options));
280+
const auto result = controller_->init(create_default_params(node_options));
284281
ASSERT_EQ(result, controller_interface::return_type::OK);
285282
}
286283

@@ -293,7 +290,7 @@ TEST_F(
293290
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
294291
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
295292
const auto result = controller_->init(
296-
createDefaultParams(node_options, ros2_control_test_assets::minimal_robot_urdf));
293+
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
297294
ASSERT_EQ(result, controller_interface::return_type::OK);
298295
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
299296
}
@@ -307,7 +304,7 @@ TEST_F(
307304
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
308305
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
309306
const auto result =
310-
controller_->init(createDefaultParams(node_options, minimal_robot_urdf_with_gpio));
307+
controller_->init(create_default_params(node_options, minimal_robot_urdf_with_gpio));
311308

312309
ASSERT_EQ(result, controller_interface::return_type::OK);
313310
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -321,7 +318,7 @@ TEST_F(
321318
{{"gpios", std::vector<std::string>{"gpio1"}},
322319
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
323320
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
324-
const auto result = controller_->init(createDefaultParams(node_options));
321+
const auto result = controller_->init(create_default_params(node_options));
325322

326323
ASSERT_EQ(result, controller_interface::return_type::OK);
327324
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
@@ -335,7 +332,7 @@ TEST_F(GpioCommandControllerTestSuite, ConfigureAndActivateParamsSuccess)
335332
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
336333
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
337334
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
338-
const auto result = controller_->init(createDefaultParams(node_options));
335+
const auto result = controller_->init(create_default_params(node_options));
339336

340337
ASSERT_EQ(result, controller_interface::return_type::OK);
341338
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -353,7 +350,7 @@ TEST_F(
353350
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
354351
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
355352
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
356-
const auto result = controller_->init(createDefaultParams(node_options));
353+
const auto result = controller_->init(create_default_params(node_options));
357354

358355
ASSERT_EQ(result, controller_interface::return_type::OK);
359356
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -381,7 +378,7 @@ TEST_F(
381378
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
382379
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
383380
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
384-
const auto result = controller_->init(createDefaultParams(node_options));
381+
const auto result = controller_->init(create_default_params(node_options));
385382

386383
ASSERT_EQ(result, controller_interface::return_type::OK);
387384
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -410,7 +407,7 @@ TEST_F(
410407
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
411408
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1"}},
412409
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
413-
const auto result = controller_->init(createDefaultParams(node_options));
410+
const auto result = controller_->init(create_default_params(node_options));
414411

415412
ASSERT_EQ(result, controller_interface::return_type::OK);
416413
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -440,7 +437,7 @@ TEST_F(
440437
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
441438
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
442439

443-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
440+
move_to_activate_state(controller_->init(create_default_params(node_options)));
444441
assert_default_command_and_state_values();
445442
update_controller_loop();
446443
assert_default_command_and_state_values();
@@ -456,7 +453,7 @@ TEST_F(
456453
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
457454
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
458455
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
459-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
456+
move_to_activate_state(controller_->init(create_default_params(node_options)));
460457

461458
const auto command = createGpioCommand(
462459
{"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0, 1.0}),
@@ -477,7 +474,7 @@ TEST_F(
477474
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
478475
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
479476
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
480-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
477+
move_to_activate_state(controller_->init(create_default_params(node_options)));
481478

482479
const auto command = createGpioCommand(
483480
{"gpio1", "gpio2"},
@@ -498,7 +495,7 @@ TEST_F(
498495
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
499496
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
500497
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
501-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
498+
move_to_activate_state(controller_->init(create_default_params(node_options)));
502499

503500
const auto command = createGpioCommand(
504501
{"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0}),
@@ -521,7 +518,7 @@ TEST_F(
521518
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
522519
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
523520
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
524-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
521+
move_to_activate_state(controller_->init(create_default_params(node_options)));
525522

526523
const auto command = createGpioCommand(
527524
{"gpio2", "gpio1"}, {createInterfaceValue({"ana.1"}, {30.0}),
@@ -544,7 +541,7 @@ TEST_F(
544541
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
545542
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
546543
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
547-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
544+
move_to_activate_state(controller_->init(create_default_params(node_options)));
548545

549546
const auto command =
550547
createGpioCommand({"gpio1"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0})});
@@ -566,7 +563,7 @@ TEST_F(
566563
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
567564
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
568565
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
569-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
566+
move_to_activate_state(controller_->init(create_default_params(node_options)));
570567

571568
const auto command = createGpioCommand(
572569
{"gpio1", "gpio3"}, {createInterfaceValue({"dig.3", "dig.4"}, {20.0, 25.0}),
@@ -589,7 +586,7 @@ TEST_F(
589586
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
590587
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
591588
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
592-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
589+
move_to_activate_state(controller_->init(create_default_params(node_options)));
593590

594591
auto command_pub = node->create_publisher<CmdType>(
595592
std::string(controller_->get_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
@@ -613,7 +610,7 @@ TEST_F(GpioCommandControllerTestSuite, ControllerShouldPublishGpioStatesWithCurr
613610
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
614611
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
615612
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
616-
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
613+
move_to_activate_state(controller_->init(create_default_params(node_options)));
617614

618615
auto subscription = node->create_subscription<StateType>(
619616
std::string(controller_->get_node()->get_name()) + "/gpio_states", 10,
@@ -653,7 +650,7 @@ TEST_F(
653650
state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
654651

655652
const auto result_of_initialization =
656-
controller_->init(createDefaultParams(node_options, minimal_robot_urdf_with_gpio));
653+
controller_->init(create_default_params(node_options, minimal_robot_urdf_with_gpio));
657654
ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
658655
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
659656
controller_->assign_interfaces(std::move(command_interfaces), std::move(state_interfaces));
@@ -687,7 +684,7 @@ TEST_F(
687684
std::vector<LoanedStateInterface> state_interfaces;
688685
state_interfaces.emplace_back(gpio_1_1_dig_state, nullptr);
689686
state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
690-
const auto result_of_initialization = controller_->init(createDefaultParams(node_options));
687+
const auto result_of_initialization = controller_->init(create_default_params(node_options));
691688
ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
692689
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
693690
controller_->assign_interfaces({}, std::move(state_interfaces));

‎gps_sensor_broadcaster/test/test_gps_sensor_broadcaster.cpp‎

Lines changed: 24 additions & 42 deletions
Original file line numberDiff line numberDiff line change
@@ -105,6 +105,18 @@ class GPSSensorBroadcasterTest : public ::testing::Test
105105
return gps_msg;
106106
}
107107

108+
controller_interface::ControllerInterfaceParams create_default_params(
109+
const rclcpp::NodeOptions & node_options, const std::string & robot_description = "")
110+
{
111+
controller_interface::ControllerInterfaceParams params;
112+
params.controller_name = "test_gps_sensor_broadcaster";
113+
params.robot_description = robot_description;
114+
params.update_rate = 0;
115+
params.node_namespace = "";
116+
params.node_options = node_options;
117+
return params;
118+
}
119+
108120
protected:
109121
const rclcpp::Parameter sensor_name_param_ = rclcpp::Parameter("sensor_name", "gps_sensor");
110122
const std::string sensor_name_ = sensor_name_param_.get_value<std::string>();
@@ -140,26 +152,16 @@ class GPSSensorBroadcasterTest : public ::testing::Test
140152

141153
TEST_F(GPSSensorBroadcasterTest, whenNoParamsAreSetThenInitShouldFail)
142154
{
143-
controller_interface::ControllerInterfaceParams params;
144-
params.controller_name = "test_gps_sensor_broadcaster";
145-
params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
146-
params.update_rate = 0;
147-
params.node_namespace = "";
148-
params.node_options = gps_broadcaster_->define_custom_node_options();
149-
const auto result = gps_broadcaster_->init(params);
155+
const auto result = gps_broadcaster_->init(create_default_params(
156+
gps_broadcaster_->define_custom_node_options(), ros2_control_test_assets::minimal_robot_urdf));
150157
ASSERT_EQ(result, controller_interface::return_type::ERROR);
151158
}
152159

153160
TEST_F(GPSSensorBroadcasterTest, whenOnlySensorNameIsSetThenInitShouldFail)
154161
{
155162
const auto node_options = create_node_options_with_overriden_parameters({sensor_name_param_});
156-
controller_interface::ControllerInterfaceParams params;
157-
params.controller_name = "test_gps_sensor_broadcaster";
158-
params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
159-
params.update_rate = 0;
160-
params.node_namespace = "";
161-
params.node_options = node_options;
162-
const auto result = gps_broadcaster_->init(params);
163+
const auto result = gps_broadcaster_->init(
164+
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
163165
ASSERT_EQ(result, controller_interface::return_type::ERROR);
164166
}
165167

@@ -169,13 +171,8 @@ TEST_F(
169171
{
170172
const auto node_options =
171173
create_node_options_with_overriden_parameters({sensor_name_param_, frame_id_});
172-
controller_interface::ControllerInterfaceParams params;
173-
params.controller_name = "test_gps_sensor_broadcaster";
174-
params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
175-
params.update_rate = 0;
176-
params.node_namespace = "";
177-
params.node_options = node_options;
178-
const auto result = gps_broadcaster_->init(params);
174+
const auto result = gps_broadcaster_->init(
175+
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
179176
ASSERT_EQ(result, controller_interface::return_type::OK);
180177
ASSERT_EQ(
181178
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -188,13 +185,8 @@ TEST_F(
188185
{
189186
const auto node_options =
190187
create_node_options_with_overriden_parameters({sensor_name_param_, frame_id_});
191-
controller_interface::ControllerInterfaceParams params;
192-
params.controller_name = "test_gps_sensor_broadcaster";
193-
params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
194-
params.update_rate = 0;
195-
params.node_namespace = "";
196-
params.node_options = node_options;
197-
const auto result = gps_broadcaster_->init(params);
188+
const auto result = gps_broadcaster_->init(
189+
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
198190
ASSERT_EQ(result, controller_interface::return_type::OK);
199191
ASSERT_EQ(
200192
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -224,13 +216,8 @@ TEST_F(
224216
frame_id_,
225217
{"static_position_covariance",
226218
std::vector<double>{static_covariance.begin(), static_covariance.end()}}});
227-
controller_interface::ControllerInterfaceParams params;
228-
params.controller_name = "test_gps_sensor_broadcaster";
229-
params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
230-
params.update_rate = 0;
231-
params.node_namespace = "";
232-
params.node_options = node_options;
233-
const auto result = gps_broadcaster_->init(params);
219+
const auto result = gps_broadcaster_->init(
220+
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
234221
ASSERT_EQ(result, controller_interface::return_type::OK);
235222
ASSERT_EQ(
236223
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -257,13 +244,8 @@ TEST_F(
257244
const auto node_options = create_node_options_with_overriden_parameters(
258245
{sensor_name_param_, frame_id_, {"read_covariance_from_interface", true}});
259246

260-
controller_interface::ControllerInterfaceParams params;
261-
params.controller_name = "test_gps_sensor_broadcaster";
262-
params.robot_description = ros2_control_test_assets::minimal_robot_urdf;
263-
params.update_rate = 0;
264-
params.node_namespace = "";
265-
params.node_options = node_options;
266-
const auto result = gps_broadcaster_->init(params);
247+
const auto result = gps_broadcaster_->init(
248+
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
267249
ASSERT_EQ(result, controller_interface::return_type::OK);
268250
ASSERT_EQ(
269251
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);

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