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Add tests for hasError() method
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‎combined_robot_hw_tests/include/combined_robot_hw_tests/my_robot_hw_5.h

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///////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2015, Shadow Robot Company Ltd.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of hiDOF, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//////////////////////////////////////////////////////////////////////////////
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#ifndef CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_5_H
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#define CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_5_H
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#include <hardware_interface/joint_command_interface.h>
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#include <hardware_interface/robot_hw.h>
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#include <pluginlib/class_list_macros.hpp>
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namespace combined_robot_hw_tests
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{
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class MyRobotHW5 : public hardware_interface::RobotHW
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{
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public:
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MyRobotHW5();
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virtual ~MyRobotHW5(){};
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virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
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void read(const ros::Time& time, const ros::Duration& period);
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void write(const ros::Time& time, const ros::Duration& period);
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bool hasError();
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};
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}
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#endif

‎combined_robot_hw_tests/src/my_robot_hw_5.cpp

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///////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2015, Shadow Robot Company Ltd.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of Shadow Robot Company Ltd. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//////////////////////////////////////////////////////////////////////////////
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#include <combined_robot_hw_tests/my_robot_hw_5.h>
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namespace combined_robot_hw_tests
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{
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MyRobotHW3::MyRobotHW5()
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{
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}
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bool MyRobotHW5::init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh)
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{
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return true;
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}
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void MyRobotHW5::read(const ros::Time& time, const ros::Duration& period)
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{
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}
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void MyRobotHW5::write(const ros::Time& time, const ros::Duration& period)
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{
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}
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bool MyRobotHW5::hasError()
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{
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return true;
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}
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}
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PLUGINLIB_EXPORT_CLASS( combined_robot_hw_tests::MyRobotHW5, hardware_interface::RobotHW)
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‎combined_robot_hw_tests/test/cm_test.test

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joint_name_filter: right_arm
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my_robot_hw_4:
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type: combined_robot_hw_tests/MyRobotHW4
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my_robot_hw_5:
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type: combined_robot_hw_tests/MyRobotHW5
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my_controller:
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type: controller_manager_tests/EffortTestController
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my_controller2:

‎combined_robot_hw_tests/test/combined_robot_hw_test.cpp

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robot_hw.write(ros::Time::now(), period);
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ej_handle = ej_interface->getHandle("test_joint2");
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ASSERT_FLOAT_EQ(3.5, ej_handle.getCommand());
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bool error = robot_hw.hasError();
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ASSERT_TRUE(error);
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}
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TEST(CombinedRobotHWTests, switchOk)

‎combined_robot_hw_tests/test/combined_robot_hw_test.test

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- my_robot_hw_2
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- my_robot_hw_3
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- my_robot_hw_4
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- my_robot_hw_5
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my_robot_hw_1:
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type: combined_robot_hw_tests/MyRobotHW1
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my_robot_hw_2:
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joint_name_filter: right_arm
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my_robot_hw_4:
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type: combined_robot_hw_tests/MyRobotHW4
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my_robot_hw_5:
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type: combined_robot_hw_tests/MyRobotHW5
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</rosparam>
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<test test-name="combined_robot_hw_tests" pkg="combined_robot_hw_tests" type="combined_robot_hw_test"/>

‎combined_robot_hw_tests/test_robot_hw_plugin.xml

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A type of RobotHW
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</description>
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</class>
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<class name="combined_robot_hw_tests/MyRobotHW5" type="combined_robot_hw_tests::MyRobotHW5" base_class_type="hardware_interface::RobotHW">
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<description>
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A type of RobotHW
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</description>
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</class>
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</library>

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