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Nandostream11Nandostream11
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removed default args from createDefaultParams() calls
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+19
-19
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‎gpio_controllers/test/test_gpio_command_controller.cpp‎

Lines changed: 19 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -244,7 +244,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenGpiosParameterIsEmptyInitShouldFail)
244244
{
245245
const auto node_options =
246246
create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{}}});
247-
const auto result = controller_->init(createDefaultParams(node_options, ""));
247+
const auto result = controller_->init(createDefaultParams(node_options));
248248

249249
ASSERT_EQ(result, controller_interface::return_type::ERROR);
250250
}
@@ -255,7 +255,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsEmptyInit
255255
{{"gpios", std::vector<std::string>{"gpio1"}},
256256
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
257257
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
258-
const auto result = controller_->init(createDefaultParams(node_options, ""));
258+
const auto result = controller_->init(createDefaultParams(node_options));
259259

260260
ASSERT_EQ(result, controller_interface::return_type::OK);
261261
}
@@ -264,7 +264,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsNotSetIni
264264
{
265265
const auto node_options =
266266
create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{"gpio1"}}});
267-
const auto result = controller_->init(createDefaultParams(node_options, ""));
267+
const auto result = controller_->init(createDefaultParams(node_options));
268268

269269
ASSERT_EQ(result, controller_interface::return_type::OK);
270270
}
@@ -280,7 +280,7 @@ TEST_F(
280280
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
281281
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
282282

283-
const auto result = controller_->init(createDefaultParams(node_options, ""));
283+
const auto result = controller_->init(createDefaultParams(node_options));
284284
ASSERT_EQ(result, controller_interface::return_type::OK);
285285
}
286286

@@ -321,7 +321,7 @@ TEST_F(
321321
{{"gpios", std::vector<std::string>{"gpio1"}},
322322
{"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
323323
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
324-
const auto result = controller_->init(createDefaultParams(node_options, ""));
324+
const auto result = controller_->init(createDefaultParams(node_options));
325325

326326
ASSERT_EQ(result, controller_interface::return_type::OK);
327327
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
@@ -335,7 +335,7 @@ TEST_F(GpioCommandControllerTestSuite, ConfigureAndActivateParamsSuccess)
335335
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
336336
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
337337
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
338-
const auto result = controller_->init(createDefaultParams(node_options, ""));
338+
const auto result = controller_->init(createDefaultParams(node_options));
339339

340340
ASSERT_EQ(result, controller_interface::return_type::OK);
341341
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -353,7 +353,7 @@ TEST_F(
353353
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
354354
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
355355
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
356-
const auto result = controller_->init(createDefaultParams(node_options, ""));
356+
const auto result = controller_->init(createDefaultParams(node_options));
357357

358358
ASSERT_EQ(result, controller_interface::return_type::OK);
359359
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -381,7 +381,7 @@ TEST_F(
381381
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
382382
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
383383
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
384-
const auto result = controller_->init(createDefaultParams(node_options, ""));
384+
const auto result = controller_->init(createDefaultParams(node_options));
385385

386386
ASSERT_EQ(result, controller_interface::return_type::OK);
387387
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -410,7 +410,7 @@ TEST_F(
410410
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
411411
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1"}},
412412
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
413-
const auto result = controller_->init(createDefaultParams(node_options, ""));
413+
const auto result = controller_->init(createDefaultParams(node_options));
414414

415415
ASSERT_EQ(result, controller_interface::return_type::OK);
416416
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -440,7 +440,7 @@ TEST_F(
440440
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
441441
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
442442

443-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
443+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
444444
assert_default_command_and_state_values();
445445
update_controller_loop();
446446
assert_default_command_and_state_values();
@@ -456,7 +456,7 @@ TEST_F(
456456
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
457457
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
458458
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
459-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
459+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
460460

461461
const auto command = createGpioCommand(
462462
{"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0, 1.0}),
@@ -477,7 +477,7 @@ TEST_F(
477477
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
478478
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
479479
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
480-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
480+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
481481

482482
const auto command = createGpioCommand(
483483
{"gpio1", "gpio2"},
@@ -498,7 +498,7 @@ TEST_F(
498498
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
499499
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
500500
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
501-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
501+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
502502

503503
const auto command = createGpioCommand(
504504
{"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0}),
@@ -521,7 +521,7 @@ TEST_F(
521521
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
522522
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
523523
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
524-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
524+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
525525

526526
const auto command = createGpioCommand(
527527
{"gpio2", "gpio1"}, {createInterfaceValue({"ana.1"}, {30.0}),
@@ -544,7 +544,7 @@ TEST_F(
544544
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
545545
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
546546
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
547-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
547+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
548548

549549
const auto command =
550550
createGpioCommand({"gpio1"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0})});
@@ -566,7 +566,7 @@ TEST_F(
566566
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
567567
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
568568
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
569-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
569+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
570570

571571
const auto command = createGpioCommand(
572572
{"gpio1", "gpio3"}, {createInterfaceValue({"dig.3", "dig.4"}, {20.0, 25.0}),
@@ -589,7 +589,7 @@ TEST_F(
589589
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
590590
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
591591
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
592-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
592+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
593593

594594
auto command_pub = node->create_publisher<CmdType>(
595595
std::string(controller_->get_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
@@ -613,7 +613,7 @@ TEST_F(GpioCommandControllerTestSuite, ControllerShouldPublishGpioStatesWithCurr
613613
{"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
614614
{"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
615615
{"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
616-
move_to_activate_state(controller_->init(createDefaultParams(node_options, "")));
616+
move_to_activate_state(controller_->init(createDefaultParams(node_options)));
617617

618618
auto subscription = node->create_subscription<StateType>(
619619
std::string(controller_->get_node()->get_name()) + "/gpio_states", 10,
@@ -687,7 +687,7 @@ TEST_F(
687687
std::vector<LoanedStateInterface> state_interfaces;
688688
state_interfaces.emplace_back(gpio_1_1_dig_state, nullptr);
689689
state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
690-
const auto result_of_initialization = controller_->init(createDefaultParams(node_options, ""));
690+
const auto result_of_initialization = controller_->init(createDefaultParams(node_options));
691691
ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
692692
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
693693
controller_->assign_interfaces({}, std::move(state_interfaces));

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