adapt test to new way of exporting reference interfaces

mamueluth · Manuel M · commit d8f78a263665 · 2024-07-25T15:45:44.000+02:00
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -89,9 +89,9 @@ 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
@@ -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/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -73,9 +73,9 @@ 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
@@ -77,9 +77,9 @@ 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
@@ -97,9 +97,9 @@ 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
@@ -84,9 +84,9 @@ 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
@@ -70,9 +70,9 @@ 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
@@ -81,9 +81,9 @@ 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
@@ -84,9 +84,9 @@ 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
`@@ -89,9 +89,9 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)`
`89`	`89`	`{`
`90`	`90`	`const std::string ref_itf_name =`
`91`	`91`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`92`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`93`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`94`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`92`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`93`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`94`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`95`	`95`	`}`
`96`	`96`	`}`
`97`	`97`
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
`@@ -73,9 +73,9 @@ TEST_F(BicycleSteeringControllerTest, 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
`@@ -77,9 +77,9 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)`
`77`	`77`	`{`
`78`	`78`	`const std::string ref_itf_name =`
`79`	`79`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`80`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`81`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`82`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`80`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`81`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`82`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`83`	`83`	`}`
`84`	`84`	`}`
`85`	`85`
Original file line number	Diff line number	Diff line change
`@@ -97,9 +97,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)`
`97`	`97`	`{`
`98`	`98`	`const std::string ref_itf_name =`
`99`	`99`	`std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;`
`100`		`- EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);`
`101`		`- EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());`
`102`		`- EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);`
	`100`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);`
	`101`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());`
	`102`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);`
`103`	`103`	`++ri_index;`
`104`	`104`	`}`
`105`	`105`	`}`
Original file line number	Diff line number	Diff line change
`@@ -84,9 +84,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)`
`84`	`84`	`{`
`85`	`85`	`const std::string ref_itf_name =`
`86`	`86`	`std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;`
`87`		`- EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);`
`88`		`- EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());`
`89`		`- EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);`
	`87`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_name(), ref_itf_name);`
	`88`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_prefix_name(), controller_->get_node()->get_name());`
	`89`	`+ EXPECT_EQ(ref_if_conf[ri_index]->get_interface_name(), dof_name + "/" + interface);`
`90`	`90`	`++ri_index;`
`91`	`91`	`}`
`92`	`92`	`}`
Original file line number	Diff line number	Diff line change
`@@ -70,9 +70,9 @@ TEST_F(SteeringControllersLibraryTest, check_exported_interfaces)`
`70`	`70`	`{`
`71`	`71`	`const std::string ref_itf_name =`
`72`	`72`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`73`		`- EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name);`
`74`		`- EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name());`
`75`		`- EXPECT_EQ(reference_interfaces[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`73`	`+ EXPECT_EQ(reference_interfaces[i]->get_name(), ref_itf_name);`
	`74`	`+ EXPECT_EQ(reference_interfaces[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`75`	`+ EXPECT_EQ(reference_interfaces[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`76`	`76`	`}`
`77`	`77`	`}`
`78`	`78`
Original file line number	Diff line number	Diff line change
`@@ -81,9 +81,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)`
`81`	`81`	`{`
`82`	`82`	`const std::string ref_itf_name =`
`83`	`83`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`84`		`- EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);`
`85`		`- EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());`
`86`		`- EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`84`	`+ EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);`
	`85`	`+ EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`86`	`+ EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`87`	`87`	`}`
`88`	`88`	`}`
`89`	`89`
Original file line number	Diff line number	Diff line change
`@@ -84,9 +84,9 @@ TEST_F(TricycleSteeringControllerTest, check_exported_interfaces)`
`84`	`84`	`{`
`85`	`85`	`const std::string ref_itf_name =`
`86`	`86`	`std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];`
`87`		`- EXPECT_EQ(ref_if_conf[i].get_name(), ref_itf_name);`
`88`		`- EXPECT_EQ(ref_if_conf[i].get_prefix_name(), controller_->get_node()->get_name());`
`89`		`- EXPECT_EQ(ref_if_conf[i].get_interface_name(), joint_reference_interfaces_[i]);`
	`87`	`+ EXPECT_EQ(ref_if_conf[i]->get_name(), ref_itf_name);`
	`88`	`+ EXPECT_EQ(ref_if_conf[i]->get_prefix_name(), controller_->get_node()->get_name());`
	`89`	`+ EXPECT_EQ(ref_if_conf[i]->get_interface_name(), joint_reference_interfaces_[i]);`
`90`	`90`	`}`
`91`	`91`	`}`
`92`	`92`