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[rcl action] Addresses peer review comments (#317)

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This commit is contained in:
Michel Hidalgo 2018-11-01 10:52:42 -03:00
parent 8b65abeed5
commit 55d83f27d7
4 changed files with 130 additions and 69 deletions
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157
rcl_action/test/rcl_action/test_names.cpp
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@ -14,78 +14,117 @@
#include <gtest/gtest.h>
#include <iostream>
#include "rcl_action/names.h"
#include "rcl/allocator.h"
#include "rcl/types.h"
TEST(TestActionNames, test_action_goal_service_name)
struct ActionDerivedNameTestSubject
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
const char * action_name;
const char * expected_action_derived_name;
rcl_ret_t (* get_action_derived_name)(const char *, rcl_allocator_t, char **);
const char * subject_name;
};
char * action_goal_service_name;
ret = rcl_action_get_goal_service_name(
action_name, default_allocator, &action_goal_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/send_goal", action_goal_service_name);
default_allocator.deallocate(action_goal_service_name, default_allocator.state);
std::ostream & operator<<(std::ostream & os, const ActionDerivedNameTestSubject & test_subject)
{
return os << test_subject.subject_name;
}
TEST(TestActionNames, test_action_cancel_service_name)
class TestActionDerivedName
: public ::testing::TestWithParam<ActionDerivedNameTestSubject>
{
protected:
void SetUp() override
{
test_subject = GetParam();
}
ActionDerivedNameTestSubject test_subject;
};
TEST_P(TestActionDerivedName, validate_action_derived_getter)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char dummy_char;
char * action_derived_name;
rcl_allocator_t default_allocator =
rcl_get_default_allocator();
char * action_cancel_service_name;
ret = rcl_action_get_cancel_service_name(
action_name, default_allocator, &action_cancel_service_name);
action_derived_name = NULL;
const char * const invalid_action_name = NULL;
ret = test_subject.get_action_derived_name(
invalid_action_name, default_allocator,
&action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = NULL;
rcl_allocator_t invalid_allocator =
(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
ret = test_subject.get_action_derived_name(
test_subject.action_name, invalid_allocator,
&action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = NULL;
char ** invalid_ptr_to_action_derived_name = NULL;
ret = test_subject.get_action_derived_name(
test_subject.action_name, default_allocator,
invalid_ptr_to_action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = &dummy_char;
ret = test_subject.get_action_derived_name(
test_subject.action_name, default_allocator,
&action_derived_name);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
action_derived_name = NULL;
ret = test_subject.get_action_derived_name(
test_subject.action_name, default_allocator,
&action_derived_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/cancel_goal", action_cancel_service_name);
default_allocator.deallocate(action_cancel_service_name, default_allocator.state);
EXPECT_STREQ(test_subject.expected_action_derived_name, action_derived_name);
default_allocator.deallocate(action_derived_name, default_allocator.state);
}
TEST(TestActionNames, test_action_result_service_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
const ActionDerivedNameTestSubject action_service_and_topic_subjects[] = {
{
"test_it", // action_name
"test_it/_action/send_goal", // expected_action_derived_name
rcl_action_get_goal_service_name, // get_action_derived_name
"goal_service_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/cancel_goal", // expected_action_derived_name
rcl_action_get_cancel_service_name, // get_action_derived_name
"cancel_service_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/get_result", // expected_action_derived_name
rcl_action_get_result_service_name, // get_action_derived_name
"result_service_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/feedback", // expected_action_derived_name
rcl_action_get_feedback_topic_name, // get_action_derived_name
"feedback_topic_name_test" // subject_name
},
{
"test_it", // action_name
"test_it/_action/status", // expected_action_derived_name
rcl_action_get_status_topic_name, // get_action_derived_name
"status_topic_name_test" // subject_name
}
};
char * action_result_service_name;
ret = rcl_action_get_result_service_name(
action_name, default_allocator, &action_result_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/get_result", action_result_service_name);
default_allocator.deallocate(action_result_service_name, default_allocator.state);
}
TEST(TestActionNames, test_action_feedback_topic_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_feedback_topic_name;
ret = rcl_action_get_feedback_topic_name(
action_name, default_allocator, &action_feedback_topic_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/feedback", action_feedback_topic_name);
default_allocator.deallocate(action_feedback_topic_name, default_allocator.state);
}
TEST(TestActionNames, test_action_status_topic_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_status_topic_name;
ret = rcl_action_get_status_topic_name(
action_name, default_allocator, &action_status_topic_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/status", action_status_topic_name);
default_allocator.deallocate(action_status_topic_name, default_allocator.state);
}
INSTANTIATE_TEST_CASE_P(
TestActionServiceAndTopicNames, TestActionDerivedName,
::testing::ValuesIn(action_service_and_topic_subjects),
::testing::PrintToStringParamName());