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Updated action tests to match the updated API

Browse source 
Added action cancel test

Added action result communication test

Added action status communication test

Added action feedback communication test

Fix wrong return code in action client
This commit is contained in:
Alexis Pojomovsky 2018-11-22 15:29:34 -03:00
parent bde76ab40e
commit 4ee3182380
2 changed files with 833 additions and 212 deletions
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4
rcl_action/src/rcl_action/action_client.c
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@ -243,7 +243,7 @@ rcl_action_client_get_default_options(void)
#define SEND_SERVICE_REQUEST(Type, request, sequence_number) \ #define SEND_SERVICE_REQUEST(Type, request, sequence_number) \
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action " #Type " request"); \ RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action " #Type " request"); \
if (!rcl_action_client_is_valid(action_client)) { \ if (!rcl_action_client_is_valid(action_client)) { \
return RCL_RET_ACTION_SERVER_INVALID; /* error already set */ \ return RCL_RET_ACTION_CLIENT_INVALID; /* error already set */ \
} \ } \
RCL_CHECK_ARGUMENT_FOR_NULL(request, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(request, RCL_RET_INVALID_ARGUMENT); \
RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT); \
@ -259,7 +259,7 @@ rcl_action_client_get_default_options(void)
#define TAKE_SERVICE_RESPONSE(Type, response_header, response) \ #define TAKE_SERVICE_RESPONSE(Type, response_header, response) \
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type " response"); \ RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type " response"); \
if (!rcl_action_client_is_valid(action_client)) { \ if (!rcl_action_client_is_valid(action_client)) { \
return RCL_RET_ACTION_SERVER_INVALID; /* error already set */ \ return RCL_RET_ACTION_CLIENT_INVALID; /* error already set */ \
} \ } \
RCL_CHECK_ARGUMENT_FOR_NULL(response_header, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(response_header, RCL_RET_INVALID_ARGUMENT); \
RCL_CHECK_ARGUMENT_FOR_NULL(response, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(response, RCL_RET_INVALID_ARGUMENT); \

1041
rcl_action/test/rcl_action/test_action_communication.cpp
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