Fix uninitialize typos and use SizeIs for vector size comparisons

hardware_interface_testing/test/test_components/test_actuator.cpp

@@ -38,9 +38,11 @@ class TestActuator : public ActuatorInterface
      * // can only control one joint
      * if (info_.joints.size() != 1) {return CallbackReturn::ERROR;}
      * // can only control in position
-     * if (info_.joints[0].command_interfaces.size() != 1) {return CallbackReturn::ERROR;}
+     * if (info_.joints[0].command_interfaces.size() != 1) {return
+     * CallbackReturn::ERROR;}
      * // can only give feedback state for position and velocity
-     * if (info_.joints[0].state_interfaces.size() != 2) {return CallbackReturn::ERROR;}
+     * if (info_.joints[0].state_interfaces.size() != 2) {return
+     * CallbackReturn::ERROR;}
      */
 
     return CallbackReturn::SUCCESS;
@@ -95,7 +97,8 @@ class TestActuator : public ActuatorInterface
     // simulate error on read
     if (velocity_command_ == test_constants::READ_FAIL_VALUE)
     {
-      // reset value to get out from error on the next call - simplifies CM tests
+      // reset value to get out from error on the next call - simplifies CM
+      // tests
       velocity_command_ = 0.0;
       return return_type::ERROR;
     }
@@ -104,10 +107,11 @@ class TestActuator : public ActuatorInterface
     {
       return return_type::DEACTIVATE;
     }
-    // The next line is for the testing purposes. We need value to be changed to be sure that
-    // the feedback from hardware to controllers in the chain is working as it should.
-    // This makes value checks clearer and confirms there is no "state = command" line or some
-    // other mixture of interfaces somewhere in the test stack.
+    // The next line is for the testing purposes. We need value to be changed to
+    // be sure that the feedback from hardware to controllers in the chain is
+    // working as it should. This makes value checks clearer and confirms there
+    // is no "state = command" line or some other mixture of interfaces
+    // somewhere in the test stack.
     velocity_state_ = velocity_command_ / 2;
     return return_type::OK;
   }
@@ -117,7 +121,8 @@ class TestActuator : public ActuatorInterface
     // simulate error on write
     if (velocity_command_ == test_constants::WRITE_FAIL_VALUE)
     {
-      // reset value to get out from error on the next call - simplifies CM tests
+      // reset value to get out from error on the next call - simplifies CM
+      // tests
       velocity_command_ = 0.0;
       return return_type::ERROR;
     }
@@ -136,7 +141,7 @@ class TestActuator : public ActuatorInterface
   double max_velocity_command_ = 0.0;
 };
 
-class TestUnitializableActuator : public TestActuator
+class TestUninitializableActuator : public TestActuator
 {
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
   {
@@ -147,4 +152,4 @@ class TestUnitializableActuator : public TestActuator
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestActuator, hardware_interface::ActuatorInterface)
-PLUGINLIB_EXPORT_CLASS(TestUnitializableActuator, hardware_interface::ActuatorInterface)
+PLUGINLIB_EXPORT_CLASS(TestUninitializableActuator, hardware_interface::ActuatorInterface)

hardware_interface_testing/test/test_components/test_components.xml

@@ -18,21 +18,21 @@
     </description>
   </class>
 
-  <class name="test_unitializable_actuator" type="TestUnitializableActuator" base_class_type="hardware_interface::ActuatorInterface">
+  <class name="test_uninitializable_actuator" type="TestUninitializableActuator" base_class_type="hardware_interface::ActuatorInterface">
     <description>
-      Test Unitializable Actuator
+      Test Uninitializable Actuator
     </description>
   </class>
 
-  <class name="test_unitializable_sensor" type="TestUnitializableSensor" base_class_type="hardware_interface::SensorInterface">
+  <class name="test_uninitializable_sensor" type="TestUninitializableSensor" base_class_type="hardware_interface::SensorInterface">
     <description>
-      Test Unitializable Sensor
+      Test Uninitializable Sensor
     </description>
   </class>
 
-  <class name="test_unitializable_system" type="TestUnitializableSystem" base_class_type="hardware_interface::SystemInterface">
+  <class name="test_uninitializable_system" type="TestUninitializableSystem" base_class_type="hardware_interface::SystemInterface">
     <description>
-      Test Unitializable System
+      Test Uninitializable System
     </description>
   </class>
 </library>

hardware_interface_testing/test/test_components/test_sensor.cpp

@@ -55,7 +55,7 @@ class TestSensor : public SensorInterface
   double velocity_state_ = 0.0;
 };
 
-class TestUnitializableSensor : public TestSensor
+class TestUninitializableSensor : public TestSensor
 {
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
   {
@@ -66,4 +66,4 @@ class TestUnitializableSensor : public TestSensor
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestSensor, hardware_interface::SensorInterface)
-PLUGINLIB_EXPORT_CLASS(TestUnitializableSensor, hardware_interface::SensorInterface)
+PLUGINLIB_EXPORT_CLASS(TestUninitializableSensor, hardware_interface::SensorInterface)

hardware_interface_testing/test/test_components/test_system.cpp

@@ -78,7 +78,8 @@ class TestSystem : public SystemInterface
     // simulate error on read
     if (velocity_command_[0] == test_constants::READ_FAIL_VALUE)
     {
-      // reset value to get out from error on the next call - simplifies CM tests
+      // reset value to get out from error on the next call - simplifies CM
+      // tests
       velocity_command_[0] = 0.0;
       return return_type::ERROR;
     }
@@ -95,7 +96,8 @@ class TestSystem : public SystemInterface
     // simulate error on write
     if (velocity_command_[0] == test_constants::WRITE_FAIL_VALUE)
     {
-      // reset value to get out from error on the next call - simplifies CM tests
+      // reset value to get out from error on the next call - simplifies CM
+      // tests
       velocity_command_[0] = 0.0;
       return return_type::ERROR;
     }
@@ -117,7 +119,7 @@ class TestSystem : public SystemInterface
   double configuration_command_ = 0.0;
 };
 
-class TestUnitializableSystem : public TestSystem
+class TestUninitializableSystem : public TestSystem
 {
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
   {
@@ -128,4 +130,4 @@ class TestUnitializableSystem : public TestSystem
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestSystem, hardware_interface::SystemInterface)
-PLUGINLIB_EXPORT_CLASS(TestUnitializableSystem, hardware_interface::SystemInterface)
+PLUGINLIB_EXPORT_CLASS(TestUninitializableSystem, hardware_interface::SystemInterface)

hardware_interface_testing/test/test_resource_manager.cpp

@@ -44,6 +44,7 @@ using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_NAME;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_TYPE;
+using testing::SizeIs;
 
 auto configure_components =
   [](TestableResourceManager & rm, const std::vector<std::string> & components = {})
@@ -101,22 +102,23 @@ TEST_F(ResourceManagerTest, post_initialization_with_urdf)
   ASSERT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_robot_urdf));
 }
 
-TEST_F(ResourceManagerTest, test_unitializable_hardware_validation)
+TEST_F(ResourceManagerTest, test_uninitializable_hardware_validation)
 {
-  // If the the hardware can not be initialized and load_urdf tried to validate the interfaces a
-  // runtime exception is thrown
+  // If the the hardware can not be initialized and load_urdf tried to validate
+  // the interfaces a runtime exception is thrown
   TestableResourceManager rm;
   ASSERT_THROW(
-    rm.load_urdf(ros2_control_test_assets::minimal_unitializable_robot_urdf, true),
+    rm.load_urdf(ros2_control_test_assets::minimal_uninitializable_robot_urdf, true),
     std::runtime_error);
 }
 
-TEST_F(ResourceManagerTest, test_unitializable_hardware_no_validation)
+TEST_F(ResourceManagerTest, test_uninitializable_hardware_no_validation)
 {
-  // If the the hardware can not be initialized and load_urdf didn't try to validate the interfaces,
-  // the interface should not show up
+  // If the the hardware can not be initialized and load_urdf didn't try to
+  // validate the interfaces, the interface should not show up
   TestableResourceManager rm;
-  EXPECT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_unitializable_robot_urdf, false));
+  EXPECT_NO_THROW(
+    rm.load_urdf(ros2_control_test_assets::minimal_uninitializable_robot_urdf, false));
 
   // test actuator
   EXPECT_FALSE(rm.state_interface_exists("joint1/position"));
@@ -150,15 +152,15 @@ TEST_F(ResourceManagerTest, initialization_with_urdf_manual_validation)
   EXPECT_EQ(1u, rm.system_components_size());
 
   auto state_interface_keys = rm.state_interface_keys();
-  ASSERT_EQ(11u, state_interface_keys.size());
+  ASSERT_THAT(state_interface_keys, SizeIs(11));
   EXPECT_TRUE(rm.state_interface_exists("joint1/position"));
   EXPECT_TRUE(rm.state_interface_exists("joint1/velocity"));
   EXPECT_TRUE(rm.state_interface_exists("sensor1/velocity"));
   EXPECT_TRUE(rm.state_interface_exists("joint2/position"));
   EXPECT_TRUE(rm.state_interface_exists("joint3/position"));
 
   auto command_interface_keys = rm.command_interface_keys();
-  ASSERT_EQ(6u, command_interface_keys.size());
+  ASSERT_THAT(command_interface_keys, SizeIs(6));
   EXPECT_TRUE(rm.command_interface_exists("joint1/position"));
   EXPECT_TRUE(rm.command_interface_exists("joint2/velocity"));
   EXPECT_TRUE(rm.command_interface_exists("joint3/velocity"));
@@ -351,8 +353,8 @@ TEST_F(ResourceManagerTest, post_initialization_add_components)
   EXPECT_EQ(1u, rm.sensor_components_size());
   EXPECT_EQ(1u, rm.system_components_size());
 
-  ASSERT_EQ(11u, rm.state_interface_keys().size());
-  ASSERT_EQ(6u, rm.command_interface_keys().size());
+  ASSERT_THAT(rm.state_interface_keys(), SizeIs(11));
+  ASSERT_THAT(rm.command_interface_keys(), SizeIs(6));
 
   hardware_interface::HardwareInfo external_component_hw_info;
   external_component_hw_info.name = "ExternalComponent";
@@ -361,9 +363,9 @@ TEST_F(ResourceManagerTest, post_initialization_add_components)
   rm.import_component(std::make_unique<ExternalComponent>(), external_component_hw_info);
   EXPECT_EQ(2u, rm.actuator_components_size());
 
-  ASSERT_EQ(12u, rm.state_interface_keys().size());
+  ASSERT_THAT(rm.state_interface_keys(), SizeIs(12));
   EXPECT_TRUE(rm.state_interface_exists("external_joint/external_state_interface"));
-  ASSERT_EQ(7u, rm.command_interface_keys().size());
+  ASSERT_THAT(rm.command_interface_keys(), SizeIs(7));
   EXPECT_TRUE(rm.command_interface_exists("external_joint/external_command_interface"));
 
   auto status_map = rm.get_components_status();
@@ -874,7 +876,8 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
       std::bind(&TestableResourceManager::command_interface_is_claimed, &rm, _1), expected_result);
   };
 
-  // All resources start as UNCONFIGURED - All interfaces are imported but not available
+  // All resources start as UNCONFIGURED - All interfaces are imported but not
+  // available
   {
     check_interfaces(
       TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES,
@@ -954,7 +957,8 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
       TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, false);
   }
 
-  // When actuator is activated all state- and command- interfaces become available
+  // When actuator is activated all state- and command- interfaces become
+  // available
   activate_components(rm, {TEST_ACTUATOR_HARDWARE_NAME});
   {
     check_interfaces(
@@ -1430,7 +1434,8 @@ class ResourceManagerTestReadWriteError : public ResourceManagerTest
       check_if_interface_available(true, true);
     }
 
-    // read failure for both, TEST_ACTUATOR_HARDWARE_NAME and TEST_SYSTEM_HARDWARE_NAME
+    // read failure for both, TEST_ACTUATOR_HARDWARE_NAME and
+    // TEST_SYSTEM_HARDWARE_NAME
     claimed_itfs[0].set_value(fail_value);
     claimed_itfs[1].set_value(fail_value);
     {
@@ -1547,7 +1552,8 @@ class ResourceManagerTestReadWriteError : public ResourceManagerTest
       check_if_interface_available(true, true);
     }
 
-    // deactivate both, TEST_ACTUATOR_HARDWARE_NAME and TEST_SYSTEM_HARDWARE_NAME
+    // deactivate both, TEST_ACTUATOR_HARDWARE_NAME and
+    // TEST_SYSTEM_HARDWARE_NAME
     claimed_itfs[0].set_value(deactivate_value);
     claimed_itfs[1].set_value(deactivate_value);
     {

hardware_interface_testing/test/test_resource_manager.hpp

@@ -48,7 +48,7 @@ class TestableResourceManager : public hardware_interface::ResourceManager
   FRIEND_TEST(ResourceManagerTest, post_initialization_add_components);
   FRIEND_TEST(ResourceManagerTest, managing_controllers_reference_interfaces);
   FRIEND_TEST(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle);
-  FRIEND_TEST(ResourceManagerTest, test_unitializable_hardware_no_validation);
+  FRIEND_TEST(ResourceManagerTest, test_uninitializable_hardware_no_validation);
 
   TestableResourceManager() : hardware_interface::ResourceManager() {}
 

ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp

@@ -306,11 +306,11 @@ const auto hardware_resources =
   </ros2_control>
 )";
 
-const auto unitializable_hardware_resources =
+const auto uninitializable_hardware_resources =
   R"(
-  <ros2_control name="TestUnitializableActuatorHardware" type="actuator">
+  <ros2_control name="TestUninitializableActuatorHardware" type="actuator">
     <hardware>
-      <plugin>test_unitializable_actuator</plugin>
+      <plugin>test_uninitializable_actuator</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
@@ -319,19 +319,19 @@ const auto unitializable_hardware_resources =
       <command_interface name="max_velocity" />
     </joint>
   </ros2_control>
-  <ros2_control name="TestUnitializableSensorHardware" type="sensor">
+  <ros2_control name="TestUninitializableSensorHardware" type="sensor">
     <hardware>
-      <plugin>test_unitializable_sensor</plugin>
+      <plugin>test_uninitializable_sensor</plugin>
       <param name="example_param_write_for_sec">2</param>
       <param name="example_param_read_for_sec">2</param>
     </hardware>
     <sensor name="sensor1">
       <state_interface name="velocity"/>
     </sensor>
   </ros2_control>
-  <ros2_control name="TestUnitializableSystemHardware" type="system">
+  <ros2_control name="TestUninitializableSystemHardware" type="system">
     <hardware>
-      <plugin>test_unitializable_system</plugin>
+      <plugin>test_uninitializable_system</plugin>
       <param name="example_param_write_for_sec">2</param>
       <param name="example_param_read_for_sec">2</param>
     </hardware>
@@ -1011,8 +1011,8 @@ const auto gripper_hardware_resources_mimic_false_command_if =
 
 const auto minimal_robot_urdf =
   std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
-const auto minimal_unitializable_robot_urdf =
-  std::string(urdf_head) + std::string(unitializable_hardware_resources) + std::string(urdf_tail);
+const auto minimal_uninitializable_robot_urdf =
+  std::string(urdf_head) + std::string(uninitializable_hardware_resources) + std::string(urdf_tail);
 
 const auto minimal_robot_missing_state_keys_urdf =
   std::string(urdf_head) + std::string(hardware_resources_missing_state_keys) +