Fix tests of the PID exported state interfaces controller

ros-controls · Feb 5, 2025 · a1f1793 · a1f1793
1 parent 091b68c
commit a1f1793
Show file tree

Hide file tree

Showing 2 changed files with 22 additions and 2 deletions.
diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp
@@ -105,6 +105,25 @@ TEST_F(PidControllerTest, check_exported_interfaces)
       ++ri_index;
     }
   }
+
+  // check exported state interfaces
+  auto state_ifs = controller_->export_state_interfaces();
+  ASSERT_EQ(state_ifs.size(), dof_state_values_.size());
+  size_t s_index = 0;
+  for (const auto & interface : state_interfaces_)
+  {
+    for (const auto & dof_name : dof_names_)
+    {
+      const std::string state_itf_name =
+        std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
+      EXPECT_EQ(state_ifs[s_index]->get_name(), state_itf_name);
+      EXPECT_EQ(
+        state_ifs[s_index]->get_prefix_name(),
+        std::string(controller_->get_node()->get_name()) + "/" + dof_name);
+      EXPECT_EQ(state_ifs[s_index]->get_interface_name(), interface);
+      ++s_index;
+    }
+  }
 }
 
 TEST_F(PidControllerTest, activate_success)

diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp
@@ -105,8 +105,9 @@ TEST_F(PidControllerTest, check_exported_interfaces)
         std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
       EXPECT_EQ(exported_state_itfs[esi_index]->get_name(), state_itf_name);
       EXPECT_EQ(
-        exported_state_itfs[esi_index]->get_prefix_name(), controller_->get_node()->get_name());
-      EXPECT_EQ(exported_state_itfs[esi_index]->get_interface_name(), dof_name + "/" + interface);
+        exported_state_itfs[esi_index]->get_prefix_name(),
+        std::string(controller_->get_node()->get_name()) + "/" + dof_name);
+      EXPECT_EQ(exported_state_itfs[esi_index]->get_interface_name(), interface);
       ++esi_index;
     }
   }