adapt test to new way of exporting reference interfaces

mamueluth · mamueluth · commit b9d2aff19e27 · 2024-04-22T11:12:55.000+02:00
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -91,9 +91,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp
@@ -93,9 +93,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -75,9 +75,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp
@@ -79,9 +79,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 
diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp
@@ -98,9 +98,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)
     {
       const std::string ref_itf_name =
         std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
-      EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);
-      EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());
-      EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);
+      EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);
+      EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());
+      EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);
       ++ri_index;
     }
   }
diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp
@@ -86,9 +86,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)
     {
       const std::string ref_itf_name =
         std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
-      EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);
-      EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());
-      EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);
+      EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);
+      EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());
+      EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);
       ++ri_index;
     }
   }
diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp
@@ -73,9 +73,9 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);
-    EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
@@ -83,9 +83,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);
-    EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp
@@ -86,9 +86,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)
   {
     const std::string ref_itf_name =
       std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
-    EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);
-    EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());
-    EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);
+    EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);
+    EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());
+    EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -91,9 +91,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)`
`91`	`91`	`{`
`92`	`92`	`const std::string ref_itf_name =`
`93`	`93`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`94`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`95`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`96`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`94`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`95`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`96`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`97`	`97`	`}`
`98`	`98`	`}`
`99`	`99`
Original file line number	Diff line number	Diff line change
`@@ -93,9 +93,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)`
`93`	`93`	`{`
`94`	`94`	`const std::string ref_itf_name =`
`95`	`95`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`96`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`97`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`98`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`96`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`97`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`98`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`99`	`99`	`}`
`100`	`100`	`}`
`101`	`101`
Original file line number	Diff line number	Diff line change
`@@ -75,9 +75,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)`
`75`	`75`	`{`
`76`	`76`	`const std::string ref_itf_name =`
`77`	`77`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`78`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`79`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`80`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`78`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`79`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`80`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`81`	`81`	`}`
`82`	`82`	`}`
`83`	`83`
Original file line number	Diff line number	Diff line change
`@@ -79,9 +79,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)`
`79`	`79`	`{`
`80`	`80`	`const std::string ref_itf_name =`
`81`	`81`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`82`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`83`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`84`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`82`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`83`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`84`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`85`	`85`	`}`
`86`	`86`	`}`
`87`	`87`
Original file line number	Diff line number	Diff line change
`@@ -98,9 +98,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)`
`98`	`98`	`{`
`99`	`99`	`const std::string ref_itf_name =`
`100`	`100`	`std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;`
`101`		`- EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);`
`102`		`- EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());`
`103`		`- EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);`
	`101`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);`
	`102`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());`
	`103`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);`
`104`	`104`	`++ri_index;`
`105`	`105`	`}`
`106`	`106`	`}`
Original file line number	Diff line number	Diff line change
`@@ -86,9 +86,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)`
`86`	`86`	`{`
`87`	`87`	`const std::string ref_itf_name =`
`88`	`88`	`std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;`
`89`		`- EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);`
`90`		`- EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());`
`91`		`- EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);`
	`89`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);`
	`90`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());`
	`91`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);`
`92`	`92`	`++ri_index;`
`93`	`93`	`}`
`94`	`94`	`}`
Original file line number	Diff line number	Diff line change
`@@ -73,9 +73,9 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces)`
`73`	`73`	`{`
`74`	`74`	`const std::string ref_itf_name =`
`75`	`75`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`76`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`77`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`78`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`76`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`77`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`78`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`79`	`79`	`}`
`80`	`80`	`}`
`81`	`81`
Original file line number	Diff line number	Diff line change
`@@ -83,9 +83,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)`
`83`	`83`	`{`
`84`	`84`	`const std::string ref_itf_name =`
`85`	`85`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`86`		`- EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);`
`87`		`- EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());`
`88`		`- EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`86`	`+ EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);`
	`87`	`+ EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`88`	`+ EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`89`	`89`	`}`
`90`	`90`	`}`
`91`	`91`
Original file line number	Diff line number	Diff line change
`@@ -86,9 +86,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)`
`86`	`86`	`{`
`87`	`87`	`const std::string ref_itf_name =`
`88`	`88`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`89`		`- EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);`
`90`		`- EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());`
`91`		`- EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`89`	`+ EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);`
	`90`	`+ EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`91`	`+ EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`92`	`92`	`}`
`93`	`93`	`}`
`94`	`94`