Add tests for interface_configuration_type consistently (#899)

(cherry picked from commit f2f36c0)

# Conflicts:
#	pid_controller/test/test_pid_controller.cpp
#	pid_controller/test/test_pid_controller_preceding.cpp

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -46,41 +46,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
 }
 
-TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
+TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
     rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
     rear_wheels_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
     front_wheels_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
     front_wheels_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
     controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
+    state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_LEFT_WHEEL],
+    state_if_conf.names[STATE_STEER_LEFT_WHEEL],
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfsTIME
   auto reference_interfaces = controller_->export_reference_interfaces();

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -62,7 +62,7 @@ class TestableAckermannSteeringController
 : public ackermann_steering_controller::AckermannSteeringController
 {
   FRIEND_TEST(AckermannSteeringControllerTest, all_parameters_set_configure_success);
-  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_intefaces);
+  FRIEND_TEST(AckermannSteeringControllerTest, check_exported_interfaces);
   FRIEND_TEST(AckermannSteeringControllerTest, activate_success);
   FRIEND_TEST(AckermannSteeringControllerTest, update_success);
   FRIEND_TEST(AckermannSteeringControllerTest, deactivate_success);

ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp

@@ -48,41 +48,43 @@ TEST_F(AckermannSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->ackermann_params_.rear_wheel_track, rear_wheel_track_);
 }
 
-TEST_F(AckermannSteeringControllerTest, check_exported_intefaces)
+TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_RIGHT_WHEEL],
     preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_LEFT_WHEEL],
     preceeding_prefix_ + "/" + rear_wheels_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_RIGHT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_RIGHT_WHEEL],
     preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_LEFT_WHEEL],
+    cmd_if_conf.names[CMD_STEER_LEFT_WHEEL],
     preceeding_prefix_ + "/" + front_wheels_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_RIGHT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_RIGHT_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_LEFT_WHEEL],
+    state_if_conf.names[STATE_TRACTION_LEFT_WHEEL],
     controller_->rear_wheels_state_names_[1] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_RIGHT_WHEEL],
+    state_if_conf.names[STATE_STEER_RIGHT_WHEEL],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_LEFT_WHEEL],
+    state_if_conf.names[STATE_STEER_LEFT_WHEEL],
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();

admittance_controller/test/test_admittance_controller.cpp

@@ -159,12 +159,15 @@ TEST_F(AdmittanceControllerTest, check_interfaces)
 
   auto command_interfaces = controller_->command_interface_configuration();
   ASSERT_EQ(command_interfaces.names.size(), joint_command_values_.size());
+  EXPECT_EQ(
+    command_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   ASSERT_EQ(
     controller_->command_interfaces_.size(), command_interface_types_.size() * joint_names_.size());
 
   auto state_interfaces = controller_->state_interface_configuration();
   ASSERT_EQ(state_interfaces.names.size(), joint_state_values_.size() + fts_state_values_.size());
+  EXPECT_EQ(state_interfaces.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   ASSERT_EQ(
     controller_->state_interfaces_.size(),

bicycle_steering_controller/test/test_bicycle_steering_controller.cpp

@@ -44,29 +44,29 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_);
 }
 
-TEST_F(BicycleSteeringControllerTest, check_exported_intefaces)
+TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_WHEEL],
-    rear_wheels_names_[0] + "/" + traction_interface_name_);
+    cmd_if_conf.names[CMD_TRACTION_WHEEL], rear_wheels_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_WHEEL],
-    front_wheels_names_[0] + "/" + steering_interface_name_);
+    cmd_if_conf.names[CMD_STEER_WHEEL], front_wheels_names_[0] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_WHEEL],
+    state_if_conf.names[STATE_TRACTION_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_AXIS],
+    state_if_conf.names[STATE_STEER_AXIS],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfsTIME
   auto reference_interfaces = controller_->export_reference_interfaces();

bicycle_steering_controller/test/test_bicycle_steering_controller.hpp

@@ -60,7 +60,7 @@ class TestableBicycleSteeringController
 : public bicycle_steering_controller::BicycleSteeringController
 {
   FRIEND_TEST(BicycleSteeringControllerTest, all_parameters_set_configure_success);
-  FRIEND_TEST(BicycleSteeringControllerTest, check_exported_intefaces);
+  FRIEND_TEST(BicycleSteeringControllerTest, check_exported_interfaces);
   FRIEND_TEST(BicycleSteeringControllerTest, activate_success);
   FRIEND_TEST(BicycleSteeringControllerTest, update_success);
   FRIEND_TEST(BicycleSteeringControllerTest, deactivate_success);

bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp

@@ -46,31 +46,31 @@ TEST_F(BicycleSteeringControllerTest, all_parameters_set_configure_success)
   ASSERT_EQ(controller_->bicycle_params_.rear_wheel_radius, rear_wheels_radius_);
 }
 
-TEST_F(BicycleSteeringControllerTest, check_exported_intefaces)
+TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
 {
   SetUpController();
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  auto command_intefaces = controller_->command_interface_configuration();
-  ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size());
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_EQ(cmd_if_conf.names.size(), joint_command_values_.size());
   EXPECT_EQ(
-    command_intefaces.names[CMD_TRACTION_WHEEL],
+    cmd_if_conf.names[CMD_TRACTION_WHEEL],
     preceeding_prefix_ + "/" + rear_wheels_names_[0] + "/" + traction_interface_name_);
-
   EXPECT_EQ(
-    command_intefaces.names[CMD_STEER_WHEEL],
+    cmd_if_conf.names[CMD_STEER_WHEEL],
     preceeding_prefix_ + "/" + front_wheels_names_[0] + "/" + steering_interface_name_);
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  auto state_intefaces = controller_->state_interface_configuration();
-  ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size());
-
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_EQ(state_if_conf.names.size(), joint_state_values_.size());
   EXPECT_EQ(
-    state_intefaces.names[STATE_TRACTION_WHEEL],
+    state_if_conf.names[STATE_TRACTION_WHEEL],
     controller_->rear_wheels_state_names_[0] + "/" + traction_interface_name_);
   EXPECT_EQ(
-    state_intefaces.names[STATE_STEER_AXIS],
+    state_if_conf.names[STATE_STEER_AXIS],
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();

diff_drive_controller/test/test_diff_drive_controller.cpp

@@ -247,12 +247,12 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
-  ASSERT_THAT(
-    controller_->state_interface_configuration().names,
-    SizeIs(left_wheel_names.size() + right_wheel_names.size()));
-  ASSERT_THAT(
-    controller_->command_interface_configuration().names,
-    SizeIs(left_wheel_names.size() + right_wheel_names.size()));
+  auto state_if_conf = controller_->state_interface_configuration();
+  ASSERT_THAT(state_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size()));
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
+  auto cmd_if_conf = controller_->command_interface_configuration();
+  ASSERT_THAT(cmd_if_conf.names, SizeIs(left_wheel_names.size() + right_wheel_names.size()));
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 }
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)

force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp

@@ -162,8 +162,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Configure_Success)
   // check interface configuration
   auto cmd_if_conf = fts_broadcaster_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, IsEmpty());
+  ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
   auto state_if_conf = fts_broadcaster_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, SizeIs(6lu));
+  ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 }
 
 TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success)
@@ -196,17 +198,21 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_ActivateDeactivate_Success)
   // check interface configuration
   auto cmd_if_conf = fts_broadcaster_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, IsEmpty());
+  ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
   auto state_if_conf = fts_broadcaster_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, SizeIs(6lu));
+  ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
   // deactivate passed
   ASSERT_EQ(fts_broadcaster_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
   // check interface configuration
   cmd_if_conf = fts_broadcaster_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, IsEmpty());
+  ASSERT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::NONE);
   state_if_conf = fts_broadcaster_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, SizeIs(6lu));  // did not change
+  ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 }
 
 TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success)

forward_command_controller/test/test_forward_command_controller.cpp

@@ -137,6 +137,7 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess)
   ASSERT_THAT(cmd_if_conf.names, SizeIs(2lu));
   auto state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 }
 
 TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails)
@@ -189,6 +190,7 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess)
   ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
   auto state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 
   ASSERT_EQ(
     controller_->on_activate(rclcpp_lifecycle::State()),
@@ -197,8 +199,10 @@ TEST_F(ForwardCommandControllerTest, ActivateSuccess)
   // check interface configuration
   cmd_if_conf = controller_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  ASSERT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 }
 
 TEST_F(ForwardCommandControllerTest, CommandSuccessTest)
@@ -352,15 +356,18 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess)
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   auto state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 
   node_state = controller_->get_node()->activate();
   ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
 
   // check interface configuration
   cmd_if_conf = controller_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 
   auto command_msg = std::make_shared<std_msgs::msg::Float64MultiArray>();
   command_msg->data = {10.0, 20.0, 30.0};
@@ -383,8 +390,10 @@ TEST_F(ForwardCommandControllerTest, ActivateDeactivateCommandsResetSuccess)
   // check interface configuration
   cmd_if_conf = controller_->command_interface_configuration();
   ASSERT_THAT(cmd_if_conf.names, SizeIs(joint_names_.size()));  // did not change
+  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 
   // command ptr should be reset (nullptr) after deactivation - same check as in `update`
   ASSERT_FALSE(

forward_command_controller/test/test_multi_interface_forward_command_controller.cpp

@@ -297,6 +297,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   auto state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 
   // send command
   auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
@@ -322,6 +323,7 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, ActivateDeactivateCommandsRes
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
   state_if_conf = controller_->state_interface_configuration();
   ASSERT_THAT(state_if_conf.names, IsEmpty());
+  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::NONE);
 
   // command ptr should be reset (nullptr) after deactivation - same check as in `update`
   ASSERT_FALSE(