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Add modifications corresponding new get_value API #1467

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Add modifications corresponding new get_value API #1467

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53 changes: 29 additions & 24 deletions effort_controllers/test/test_joint_group_effort_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,9 +105,10 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
controller_interface::return_type::OK);

// check joint commands are still the default ones
ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
bool status;
ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);

// send command
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
Expand All @@ -120,9 +121,9 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
controller_interface::return_type::OK);

// check joint commands have been modified
ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
ASSERT_EQ(joint_2_cmd_.get_value(), 20.0);
ASSERT_EQ(joint_3_cmd_.get_value(), 30.0);
ASSERT_EQ(joint_1_cmd_.get_value(status), 10.0);
ASSERT_EQ(joint_2_cmd_.get_value(status), 20.0);
ASSERT_EQ(joint_3_cmd_.get_value(status), 30.0);
}

TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
Expand All @@ -142,9 +143,10 @@ TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
controller_interface::return_type::ERROR);

// check joint commands are still the default ones
ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
bool status;
ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
}

TEST_F(JointGroupEffortControllerTest, NoCommandCheckTest)
Expand All @@ -159,9 +161,10 @@ TEST_F(JointGroupEffortControllerTest, NoCommandCheckTest)
controller_interface::return_type::OK);

// check joint commands are still the default ones
ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
bool status;
ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
}

TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
Expand All @@ -170,9 +173,10 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
controller_->get_node()->set_parameter({"joints", joint_names_});

// default values
ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
bool status;
ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);

auto node_state = controller_->get_node()->configure();
ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
Expand Down Expand Up @@ -203,9 +207,9 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
controller_interface::return_type::OK);

// check command in handle was set
ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
ASSERT_EQ(joint_2_cmd_.get_value(), 20.0);
ASSERT_EQ(joint_3_cmd_.get_value(), 30.0);
ASSERT_EQ(joint_1_cmd_.get_value(status), 10.0);
ASSERT_EQ(joint_2_cmd_.get_value(status), 20.0);
ASSERT_EQ(joint_3_cmd_.get_value(status), 30.0);
}

TEST_F(JointGroupEffortControllerTest, StopJointsOnDeactivateTest)
Expand All @@ -217,15 +221,16 @@ TEST_F(JointGroupEffortControllerTest, StopJointsOnDeactivateTest)
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

// check joint commands are still the default ones
ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
bool status;
ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);

// stop the controller
ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

// check joint commands are now zero
ASSERT_EQ(joint_1_cmd_.get_value(), 0.0);
ASSERT_EQ(joint_2_cmd_.get_value(), 0.0);
ASSERT_EQ(joint_3_cmd_.get_value(), 0.0);
ASSERT_EQ(joint_1_cmd_.get_value(status), 0.0);
ASSERT_EQ(joint_2_cmd_.get_value(status), 0.0);
ASSERT_EQ(joint_3_cmd_.get_value(status), 0.0);
}
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