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param creator methods name-> create_ctrl_params
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-31
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2 files changed

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‎gpio_controllers/test/test_gpio_command_controller.cpp‎

Lines changed: 24 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -199,7 +199,7 @@ class GpioCommandControllerTestSuite : public ::testing::Test
199199

200200
std::unique_ptr<FriendGpioCommandController> controller_;
201201

202-
controller_interface::ControllerInterfaceParams create_default_params(
202+
controller_interface::ControllerInterfaceParams create_ctrl_params(
203203
const rclcpp::NodeOptions & node_options, const std::string & robot_description = "")
204204
{
205205
controller_interface::ControllerInterfaceParams params;
@@ -232,7 +232,7 @@ class GpioCommandControllerTestSuite : public ::testing::Test
232232

233233
TEST_F(GpioCommandControllerTestSuite, WhenNoParametersAreSetInitShouldFail)
234234
{
235-
const auto result = controller_->init(create_default_params(
235+
const auto result = controller_->init(create_ctrl_params(
236236
controller_->define_custom_node_options(), ros2_control_test_assets::minimal_robot_urdf));
237237
ASSERT_EQ(result, controller_interface::return_type::ERROR);
238238
}
@@ -241,7 +241,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenGpiosParameterIsEmptyInitShouldFail)
241241
{
242242
const auto node_options =
243243
create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{}}});
244-
const auto result = controller_->init(create_default_params(node_options));
244+
const auto result = controller_->init(create_ctrl_params(node_options));
245245

246246
ASSERT_EQ(result, controller_interface::return_type::ERROR);
247247
}
@@ -252,7 +252,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsEmptyInit
252252
{{"gpios", std::vector<std::string>{"gpio1"}},
253253
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
254254
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
255-
const auto result = controller_->init(create_default_params(node_options));
255+
const auto result = controller_->init(create_ctrl_params(node_options));
256256

257257
ASSERT_EQ(result, controller_interface::return_type::OK);
258258
}
@@ -261,7 +261,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsNotSetIni
261261
{
262262
const auto node_options =
263263
create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{"gpio1"}}});
264-
const auto result = controller_->init(create_default_params(node_options));
264+
const auto result = controller_->init(create_ctrl_params(node_options));
265265

266266
ASSERT_EQ(result, controller_interface::return_type::OK);
267267
}
@@ -277,7 +277,7 @@ TEST_F(
277277
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
278278
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
279279

280-
const auto result = controller_->init(create_default_params(node_options));
280+
const auto result = controller_->init(create_ctrl_params(node_options));
281281
ASSERT_EQ(result, controller_interface::return_type::OK);
282282
}
283283

@@ -290,7 +290,7 @@ TEST_F(
290290
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
291291
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
292292
const auto result = controller_->init(
293-
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
293+
create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
294294
ASSERT_EQ(result, controller_interface::return_type::OK);
295295
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
296296
}
@@ -304,7 +304,7 @@ TEST_F(
304304
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
305305
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
306306
const auto result =
307-
controller_->init(create_default_params(node_options, minimal_robot_urdf_with_gpio));
307+
controller_->init(create_ctrl_params(node_options, minimal_robot_urdf_with_gpio));
308308

309309
ASSERT_EQ(result, controller_interface::return_type::OK);
310310
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -318,7 +318,7 @@ TEST_F(
318318
{{"gpios", std::vector<std::string>{"gpio1"}},
319319
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
320320
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
321-
const auto result = controller_->init(create_default_params(node_options));
321+
const auto result = controller_->init(create_ctrl_params(node_options));
322322

323323
ASSERT_EQ(result, controller_interface::return_type::OK);
324324
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
@@ -332,7 +332,7 @@ TEST_F(GpioCommandControllerTestSuite, ConfigureAndActivateParamsSuccess)
332332
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
333333
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
334334
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
335-
const auto result = controller_->init(create_default_params(node_options));
335+
const auto result = controller_->init(create_ctrl_params(node_options));
336336

337337
ASSERT_EQ(result, controller_interface::return_type::OK);
338338
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -350,7 +350,7 @@ TEST_F(
350350
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
351351
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
352352
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
353-
const auto result = controller_->init(create_default_params(node_options));
353+
const auto result = controller_->init(create_ctrl_params(node_options));
354354

355355
ASSERT_EQ(result, controller_interface::return_type::OK);
356356
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -378,7 +378,7 @@ TEST_F(
378378
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
379379
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
380380
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
381-
const auto result = controller_->init(create_default_params(node_options));
381+
const auto result = controller_->init(create_ctrl_params(node_options));
382382

383383
ASSERT_EQ(result, controller_interface::return_type::OK);
384384
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -407,7 +407,7 @@ TEST_F(
407407
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
408408
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1"}},
409409
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
410-
const auto result = controller_->init(create_default_params(node_options));
410+
const auto result = controller_->init(create_ctrl_params(node_options));
411411

412412
ASSERT_EQ(result, controller_interface::return_type::OK);
413413
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -437,7 +437,7 @@ TEST_F(
437437
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
438438
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
439439

440-
move_to_activate_state(controller_->init(create_default_params(node_options)));
440+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
441441
assert_default_command_and_state_values();
442442
update_controller_loop();
443443
assert_default_command_and_state_values();
@@ -453,7 +453,7 @@ TEST_F(
453453
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
454454
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
455455
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
456-
move_to_activate_state(controller_->init(create_default_params(node_options)));
456+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
457457

458458
const auto command = createGpioCommand(
459459
{"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0, 1.0}),
@@ -474,7 +474,7 @@ TEST_F(
474474
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
475475
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
476476
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
477-
move_to_activate_state(controller_->init(create_default_params(node_options)));
477+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
478478

479479
const auto command = createGpioCommand(
480480
{"gpio1", "gpio2"},
@@ -495,7 +495,7 @@ TEST_F(
495495
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
496496
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
497497
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
498-
move_to_activate_state(controller_->init(create_default_params(node_options)));
498+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
499499

500500
const auto command = createGpioCommand(
501501
{"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0}),
@@ -518,7 +518,7 @@ TEST_F(
518518
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
519519
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
520520
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
521-
move_to_activate_state(controller_->init(create_default_params(node_options)));
521+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
522522

523523
const auto command = createGpioCommand(
524524
{"gpio2", "gpio1"}, {createInterfaceValue({"ana.1"}, {30.0}),
@@ -541,7 +541,7 @@ TEST_F(
541541
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
542542
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
543543
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
544-
move_to_activate_state(controller_->init(create_default_params(node_options)));
544+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
545545

546546
const auto command =
547547
createGpioCommand({"gpio1"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0})});
@@ -563,7 +563,7 @@ TEST_F(
563563
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
564564
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
565565
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
566-
move_to_activate_state(controller_->init(create_default_params(node_options)));
566+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
567567

568568
const auto command = createGpioCommand(
569569
{"gpio1", "gpio3"}, {createInterfaceValue({"dig.3", "dig.4"}, {20.0, 25.0}),
@@ -586,7 +586,7 @@ TEST_F(
586586
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
587587
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
588588
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
589-
move_to_activate_state(controller_->init(create_default_params(node_options)));
589+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
590590

591591
auto command_pub = node->create_publisher<CmdType>(
592592
std::string(controller_->get_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
@@ -610,7 +610,7 @@ TEST_F(GpioCommandControllerTestSuite, ControllerShouldPublishGpioStatesWithCurr
610610
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
611611
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
612612
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
613-
move_to_activate_state(controller_->init(create_default_params(node_options)));
613+
move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
614614

615615
auto subscription = node->create_subscription<StateType>(
616616
std::string(controller_->get_node()->get_name()) + "/gpio_states", 10,
@@ -650,7 +650,7 @@ TEST_F(
650650
state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
651651

652652
const auto result_of_initialization =
653-
controller_->init(create_default_params(node_options, minimal_robot_urdf_with_gpio));
653+
controller_->init(create_ctrl_params(node_options, minimal_robot_urdf_with_gpio));
654654
ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
655655
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
656656
controller_->assign_interfaces(std::move(command_interfaces), std::move(state_interfaces));
@@ -684,7 +684,7 @@ TEST_F(
684684
std::vector<LoanedStateInterface> state_interfaces;
685685
state_interfaces.emplace_back(gpio_1_1_dig_state, nullptr);
686686
state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
687-
const auto result_of_initialization = controller_->init(create_default_params(node_options));
687+
const auto result_of_initialization = controller_->init(create_ctrl_params(node_options));
688688
ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
689689
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
690690
controller_->assign_interfaces({}, std::move(state_interfaces));

‎gps_sensor_broadcaster/test/test_gps_sensor_broadcaster.cpp‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -105,7 +105,7 @@ class GPSSensorBroadcasterTest : public ::testing::Test
105105
return gps_msg;
106106
}
107107

108-
controller_interface::ControllerInterfaceParams create_default_params(
108+
controller_interface::ControllerInterfaceParams create_ctrl_params(
109109
const rclcpp::NodeOptions & node_options, const std::string & robot_description = "")
110110
{
111111
controller_interface::ControllerInterfaceParams params;
@@ -152,7 +152,7 @@ class GPSSensorBroadcasterTest : public ::testing::Test
152152

153153
TEST_F(GPSSensorBroadcasterTest, whenNoParamsAreSetThenInitShouldFail)
154154
{
155-
const auto result = gps_broadcaster_->init(create_default_params(
155+
const auto result = gps_broadcaster_->init(create_ctrl_params(
156156
gps_broadcaster_->define_custom_node_options(), ros2_control_test_assets::minimal_robot_urdf));
157157
ASSERT_EQ(result, controller_interface::return_type::ERROR);
158158
}
@@ -161,7 +161,7 @@ TEST_F(GPSSensorBroadcasterTest, whenOnlySensorNameIsSetThenInitShouldFail)
161161
{
162162
const auto node_options = create_node_options_with_overriden_parameters({sensor_name_param_});
163163
const auto result = gps_broadcaster_->init(
164-
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
164+
create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
165165
ASSERT_EQ(result, controller_interface::return_type::ERROR);
166166
}
167167

@@ -172,7 +172,7 @@ TEST_F(
172172
const auto node_options =
173173
create_node_options_with_overriden_parameters({sensor_name_param_, frame_id_});
174174
const auto result = gps_broadcaster_->init(
175-
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
175+
create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
176176
ASSERT_EQ(result, controller_interface::return_type::OK);
177177
ASSERT_EQ(
178178
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -186,7 +186,7 @@ TEST_F(
186186
const auto node_options =
187187
create_node_options_with_overriden_parameters({sensor_name_param_, frame_id_});
188188
const auto result = gps_broadcaster_->init(
189-
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
189+
create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
190190
ASSERT_EQ(result, controller_interface::return_type::OK);
191191
ASSERT_EQ(
192192
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -217,7 +217,7 @@ TEST_F(
217217
{"static_position_covariance",
218218
std::vector<double>{static_covariance.begin(), static_covariance.end()}}});
219219
const auto result = gps_broadcaster_->init(
220-
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
220+
create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
221221
ASSERT_EQ(result, controller_interface::return_type::OK);
222222
ASSERT_EQ(
223223
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -245,7 +245,7 @@ TEST_F(
245245
{sensor_name_param_, frame_id_, {"read_covariance_from_interface", true}});
246246

247247
const auto result = gps_broadcaster_->init(
248-
create_default_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
248+
create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
249249
ASSERT_EQ(result, controller_interface::return_type::OK);
250250
ASSERT_EQ(
251251
gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);

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