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soham2560soham2560
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fixed tests
1 parent 22d2e3e commit ec9a3b0

12 files changed

Lines changed: 42 additions & 42 deletions

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‎hardware_interface/include/mock_components/generic_system.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,7 @@ static constexpr size_t ACCELERATION_INTERFACE_INDEX = 2;
4242
class GenericSystem : public hardware_interface::SystemInterface
4343
{
4444
public:
45-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
45+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override;
4646

4747
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
4848

‎hardware_interface/src/mock_components/generic_system.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -30,9 +30,9 @@
3030
namespace mock_components
3131
{
3232

33-
CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & info)
33+
CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareComponentInterfaceParams & params)
3434
{
35-
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
35+
if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
3636
{
3737
return CallbackReturn::ERROR;
3838
}
@@ -83,7 +83,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
8383
// check if there is parameter that disables commands
8484
// this way we simulate disconnected driver
8585
it = get_hardware_info().hardware_parameters.find("disable_commands");
86-
if (it != info.hardware_parameters.end())
86+
if (it != params.hardware_info.hardware_parameters.end())
8787
{
8888
command_propagation_disabled_ = hardware_interface::parse_bool(it->second);
8989
}
@@ -94,7 +94,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
9494

9595
// check if there is parameter that enables dynamic calculation
9696
it = get_hardware_info().hardware_parameters.find("calculate_dynamics");
97-
if (it != info.hardware_parameters.end())
97+
if (it != params.hardware_info.hardware_parameters.end())
9898
{
9999
calculate_dynamics_ = hardware_interface::parse_bool(it->second);
100100
}

‎hardware_interface/test/test_component_interfaces.cpp‎

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -56,7 +56,7 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
5656
// BEGIN (Handle export change): for backward compatibility
5757
class DummyActuator : public hardware_interface::ActuatorInterface
5858
{
59-
CallbackReturn on_init(const hardware_interface::HardwareInfo & /*info*/) override
59+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & /*params*/) override
6060
{
6161
// We hardcode the info
6262
return CallbackReturn::SUCCESS;
@@ -169,11 +169,11 @@ class DummyActuator : public hardware_interface::ActuatorInterface
169169

170170
class DummyActuatorDefault : public hardware_interface::ActuatorInterface
171171
{
172-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
172+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
173173
{
174174
// We hardcode the info
175175
if (
176-
hardware_interface::ActuatorInterface::on_init(info) !=
176+
hardware_interface::ActuatorInterface::on_init(params) !=
177177
hardware_interface::CallbackReturn::SUCCESS)
178178
{
179179
return hardware_interface::CallbackReturn::ERROR;
@@ -260,7 +260,7 @@ class DummyActuatorDefault : public hardware_interface::ActuatorInterface
260260
// BEGIN (Handle export change): for backward compatibility
261261
class DummySensor : public hardware_interface::SensorInterface
262262
{
263-
CallbackReturn on_init(const hardware_interface::HardwareInfo & /*info*/) override
263+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & /*params*/) override
264264
{
265265
// We hardcode the info
266266
return CallbackReturn::SUCCESS;
@@ -325,10 +325,10 @@ class DummySensor : public hardware_interface::SensorInterface
325325

326326
class DummySensorDefault : public hardware_interface::SensorInterface
327327
{
328-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
328+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
329329
{
330330
if (
331-
hardware_interface::SensorInterface::on_init(info) !=
331+
hardware_interface::SensorInterface::on_init(params) !=
332332
hardware_interface::CallbackReturn::SUCCESS)
333333
{
334334
return hardware_interface::CallbackReturn::ERROR;
@@ -386,10 +386,10 @@ class DummySensorDefault : public hardware_interface::SensorInterface
386386

387387
class DummySensorJointDefault : public hardware_interface::SensorInterface
388388
{
389-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
389+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
390390
{
391391
if (
392-
hardware_interface::SensorInterface::on_init(info) !=
392+
hardware_interface::SensorInterface::on_init(params) !=
393393
hardware_interface::CallbackReturn::SUCCESS)
394394
{
395395
return hardware_interface::CallbackReturn::ERROR;
@@ -447,7 +447,7 @@ class DummySensorJointDefault : public hardware_interface::SensorInterface
447447
// BEGIN (Handle export change): for backward compatibility
448448
class DummySystem : public hardware_interface::SystemInterface
449449
{
450-
CallbackReturn on_init(const hardware_interface::HardwareInfo & /* info */) override
450+
CallbackReturn on_init(const hardware_interface::HardwareInfo & /* params */) override
451451
{
452452
// We hardcode the info
453453
return CallbackReturn::SUCCESS;
@@ -593,10 +593,10 @@ class DummySystem : public hardware_interface::SystemInterface
593593

594594
class DummySystemDefault : public hardware_interface::SystemInterface
595595
{
596-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
596+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
597597
{
598598
if (
599-
hardware_interface::SystemInterface::on_init(info) !=
599+
hardware_interface::SystemInterface::on_init(params) !=
600600
hardware_interface::CallbackReturn::SUCCESS)
601601
{
602602
return hardware_interface::CallbackReturn::ERROR;
@@ -702,7 +702,7 @@ class DummySystemDefault : public hardware_interface::SystemInterface
702702
class DummySystemPreparePerform : public hardware_interface::SystemInterface
703703
{
704704
// Override the pure virtual functions with default behavior
705-
CallbackReturn on_init(const hardware_interface::HardwareInfo & /* info */) override
705+
CallbackReturn on_init(const hardware_interface::HardwareInfo & /* params */) override
706706
{
707707
// We hardcode the info
708708
return CallbackReturn::SUCCESS;

‎hardware_interface/test/test_hardware_components/test_force_torque_sensor.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -26,9 +26,9 @@ namespace test_hardware_components
2626
{
2727
class TestForceTorqueSensor : public SensorInterface
2828
{
29-
CallbackReturn on_init(const hardware_interface::HardwareInfo & sensor_info) override
29+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
3030
{
31-
if (SensorInterface::on_init(sensor_info) != CallbackReturn::SUCCESS)
31+
if (SensorInterface::on_init(params) != CallbackReturn::SUCCESS)
3232
{
3333
return CallbackReturn::ERROR;
3434
}

‎hardware_interface/test/test_hardware_components/test_imu_sensor.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -31,9 +31,9 @@ namespace test_hardware_components
3131
{
3232
class TestIMUSensor : public SensorInterface
3333
{
34-
CallbackReturn on_init(const hardware_interface::HardwareInfo & sensor_info) override
34+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
3535
{
36-
if (SensorInterface::on_init(sensor_info) != CallbackReturn::SUCCESS)
36+
if (SensorInterface::on_init(params) != CallbackReturn::SUCCESS)
3737
{
3838
return CallbackReturn::ERROR;
3939
}

‎hardware_interface/test/test_hardware_components/test_single_joint_actuator.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -26,9 +26,9 @@ namespace test_hardware_components
2626
{
2727
class TestSingleJointActuator : public ActuatorInterface
2828
{
29-
CallbackReturn on_init(const hardware_interface::HardwareInfo & actuator_info) override
29+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
3030
{
31-
if (ActuatorInterface::on_init(actuator_info) != CallbackReturn::SUCCESS)
31+
if (ActuatorInterface::on_init(params) != CallbackReturn::SUCCESS)
3232
{
3333
return CallbackReturn::ERROR;
3434
}

‎hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -24,9 +24,9 @@ namespace test_hardware_components
2424
class TestSystemCommandModes : public hardware_interface::SystemInterface
2525
{
2626
public:
27-
CallbackReturn on_init(const hardware_interface::HardwareInfo & system_info) override
27+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
2828
{
29-
if (hardware_interface::SystemInterface::on_init(system_info) != CallbackReturn::SUCCESS)
29+
if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
3030
{
3131
return CallbackReturn::ERROR;
3232
}

‎hardware_interface/test/test_hardware_components/test_two_joint_system.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -27,9 +27,9 @@ namespace test_hardware_components
2727
{
2828
class TestTwoJointSystem : public SystemInterface
2929
{
30-
CallbackReturn on_init(const hardware_interface::HardwareInfo & system_info) override
30+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
3131
{
32-
if (SystemInterface::on_init(system_info) != CallbackReturn::SUCCESS)
32+
if (SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
3333
{
3434
return CallbackReturn::ERROR;
3535
}

‎hardware_interface_testing/test/test_components/test_actuator.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -25,9 +25,9 @@ using hardware_interface::StateInterface;
2525

2626
class TestActuator : public ActuatorInterface
2727
{
28-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
28+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
2929
{
30-
if (ActuatorInterface::on_init(info) != CallbackReturn::SUCCESS)
30+
if (ActuatorInterface::on_init(params) != CallbackReturn::SUCCESS)
3131
{
3232
return CallbackReturn::ERROR;
3333
}
@@ -182,9 +182,9 @@ class TestActuator : public ActuatorInterface
182182

183183
class TestUninitializableActuator : public TestActuator
184184
{
185-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
185+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
186186
{
187-
ActuatorInterface::on_init(info);
187+
ActuatorInterface::on_init(params);
188188
return CallbackReturn::ERROR;
189189
}
190190
};

‎hardware_interface_testing/test/test_components/test_actuator_exclusive_interfaces.cpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -43,14 +43,14 @@ struct JointState
4343

4444
class TestActuatorExclusiveInterfaces : public ActuatorInterface
4545
{
46-
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
46+
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override
4747
{
48-
if (ActuatorInterface::on_init(info) != CallbackReturn::SUCCESS)
48+
if (ActuatorInterface::on_init(params) != CallbackReturn::SUCCESS)
4949
{
5050
return CallbackReturn::ERROR;
5151
}
5252

53-
for (const auto & j : info.joints)
53+
for (const auto & j : params.hardware_info.joints)
5454
{
5555
(void)j; // Suppress unused warning
5656
current_states_.emplace_back(JointState{});

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