From 66b82291a10c6321b0c0c85e103f324b8399ee52 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Thu, 6 Dec 2018 16:42:41 -0800 Subject: [PATCH] adapt to action implicit changes (#353) --- .../rcl_action/test_action_communication.cpp | 30 +++++++----- .../rcl_action/test_action_interaction.cpp | 48 ++++++++++++------- 2 files changed, 47 insertions(+), 31 deletions(-) diff --git a/rcl_action/test/rcl_action/test_action_communication.cpp b/rcl_action/test/rcl_action/test_action_communication.cpp index d13e930..3d08c41 100644 --- a/rcl_action/test/rcl_action/test_action_communication.cpp +++ b/rcl_action/test/rcl_action/test_action_communication.cpp @@ -165,7 +165,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response); // Initialize goal request - init_test_uuid0(outgoing_goal_request.uuid); + init_test_uuid0(outgoing_goal_request.action_goal_id.uuid); outgoing_goal_request.order = 10; // Send goal request with valid arguments @@ -201,7 +201,9 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c // Check that the goal request was received correctly EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order); - EXPECT_TRUE(uuidcmp(outgoing_goal_request.uuid, incoming_goal_request.uuid)); + EXPECT_TRUE(uuidcmp( + outgoing_goal_request.action_goal_id.uuid, + incoming_goal_request.action_goal_id.uuid)); // Initialize goal response outgoing_goal_response.accepted = true; @@ -392,7 +394,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response); // Initialize result request - init_test_uuid0(outgoing_result_request.uuid); + init_test_uuid0(outgoing_result_request.action_goal_id.uuid); // Send result request with valid arguments int64_t sequence_number; @@ -427,8 +429,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result // Check that the result request was received correctly EXPECT_TRUE(uuidcmp( - outgoing_result_request.uuid, - incoming_result_request.uuid)); + outgoing_result_request.action_goal_id.uuid, + incoming_result_request.action_goal_id.uuid)); // Initialize result response ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init( @@ -437,7 +439,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result outgoing_result_response.sequence.data[1] = 1; outgoing_result_response.sequence.data[2] = 2; outgoing_result_response.sequence.data[3] = 6; - outgoing_result_response.status = + outgoing_result_response.action_status = action_msgs__msg__GoalStatus__STATUS_SUCCEEDED; // Send result response with valid arguments @@ -476,7 +478,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; // Check that the result response was received correctly - EXPECT_EQ(outgoing_result_response.status, incoming_result_response.status); + EXPECT_EQ(outgoing_result_response.action_status, incoming_result_response.action_status); ASSERT_EQ(outgoing_result_response.sequence.size, incoming_result_response.sequence.size); EXPECT_TRUE(!memcmp( outgoing_result_response.sequence.data, @@ -577,7 +579,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba outgoing_feedback.sequence.data[0] = 0; outgoing_feedback.sequence.data[1] = 1; outgoing_feedback.sequence.data[2] = 2; - init_test_uuid0(outgoing_feedback.uuid); + init_test_uuid0(outgoing_feedback.action_goal_id.uuid); // Publish feedback with valid arguments rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback); @@ -611,7 +613,9 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; // Check that feedback was received correctly - EXPECT_TRUE(uuidcmp(outgoing_feedback.uuid, incoming_feedback.uuid)); + EXPECT_TRUE(uuidcmp( + outgoing_feedback.action_goal_id.uuid, + incoming_feedback.action_goal_id.uuid)); ASSERT_EQ(outgoing_feedback.sequence.size, incoming_feedback.sequence.size); EXPECT_TRUE(!memcmp( outgoing_feedback.sequence.data, @@ -630,7 +634,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request); // Initialize goal request - init_test_uuid0(outgoing_goal_request.uuid); + init_test_uuid0(outgoing_goal_request.action_goal_id.uuid); outgoing_goal_request.order = 10; int64_t sequence_number = 1234; rcl_ret_t ret = 0; @@ -869,7 +873,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request); // Initialize result request - init_test_uuid0(outgoing_result_request.uuid); + init_test_uuid0(outgoing_result_request.action_goal_id.uuid); // Send result request with null action client int64_t sequence_number = 1324; @@ -931,7 +935,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu outgoing_result_response.sequence.data[1] = 1; outgoing_result_response.sequence.data[2] = 2; outgoing_result_response.sequence.data[3] = 6; - outgoing_result_response.status = + outgoing_result_response.action_status = action_msgs__msg__GoalStatus__STATUS_SUCCEEDED; // Send result response with null action client @@ -992,7 +996,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed outgoing_feedback.sequence.data[0] = 0; outgoing_feedback.sequence.data[1] = 1; outgoing_feedback.sequence.data[2] = 2; - init_test_uuid0(outgoing_feedback.uuid); + init_test_uuid0(outgoing_feedback.action_goal_id.uuid); // Publish feedback with null action server rcl_ret_t ret = rcl_action_publish_feedback(nullptr, &outgoing_feedback); diff --git a/rcl_action/test/rcl_action/test_action_interaction.cpp b/rcl_action/test/rcl_action/test_action_interaction.cpp index 76efac2..3196747 100644 --- a/rcl_action/test/rcl_action/test_action_interaction.cpp +++ b/rcl_action/test/rcl_action/test_action_interaction.cpp @@ -196,7 +196,7 @@ protected: TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction) { // Initialize goal request - init_test_uuid0(this->outgoing_goal_request.uuid); + init_test_uuid0(this->outgoing_goal_request.action_goal_id.uuid); this->outgoing_goal_request.order = 10; // Send goal request with valid arguments @@ -235,7 +235,9 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in // Check that the goal request was received correctly EXPECT_EQ(this->outgoing_goal_request.order, this->incoming_goal_request.order); - EXPECT_TRUE(uuidcmp(this->outgoing_goal_request.uuid, this->incoming_goal_request.uuid)); + EXPECT_TRUE(uuidcmp( + this->outgoing_goal_request.action_goal_id.uuid, + this->incoming_goal_request.action_goal_id.uuid)); // Initialize goal response this->outgoing_goal_response.accepted = true; @@ -285,7 +287,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in EXPECT_EQ(this->outgoing_goal_response.stamp.nanosec, this->incoming_goal_response.stamp.nanosec); // Initialize result request - init_test_uuid0(this->outgoing_result_request.uuid); + init_test_uuid0(this->outgoing_result_request.action_goal_id.uuid); // Send result request with valid arguments ret = rcl_action_send_result_request( @@ -298,7 +300,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in this->outgoing_feedback.sequence.data[0] = 0; this->outgoing_feedback.sequence.data[1] = 1; this->outgoing_feedback.sequence.data[2] = 2; - init_test_uuid0(this->outgoing_feedback.uuid); + init_test_uuid0(this->outgoing_feedback.action_goal_id.uuid); // Publish feedback with valid arguments ret = rcl_action_publish_feedback(&this->action_server, &this->outgoing_feedback); @@ -335,7 +337,9 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; // Check that feedback was received correctly - EXPECT_TRUE(uuidcmp(this->outgoing_feedback.uuid, this->incoming_feedback.uuid)); + EXPECT_TRUE(uuidcmp( + this->outgoing_feedback.action_goal_id.uuid, + this->incoming_feedback.action_goal_id.uuid)); ASSERT_EQ(this->outgoing_feedback.sequence.size, this->incoming_feedback.sequence.size); EXPECT_TRUE(!memcmp( this->outgoing_feedback.sequence.data, @@ -372,8 +376,8 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in // Check that the result request was received correctly EXPECT_TRUE(uuidcmp( - this->outgoing_result_request.uuid, - this->incoming_result_request.uuid)); + this->outgoing_result_request.action_goal_id.uuid, + this->incoming_result_request.action_goal_id.uuid)); // Initialize result response ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init( @@ -382,7 +386,7 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in this->outgoing_result_response.sequence.data[1] = 1; this->outgoing_result_response.sequence.data[2] = 2; this->outgoing_result_response.sequence.data[3] = 6; - this->outgoing_result_response.status = + this->outgoing_result_response.action_status = action_msgs__msg__GoalStatus__STATUS_SUCCEEDED; // Send result response with valid arguments @@ -422,7 +426,9 @@ TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_in EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; // Check that the result response was received correctly - EXPECT_EQ(this->outgoing_result_response.status, this->incoming_result_response.status); + EXPECT_EQ( + this->outgoing_result_response.action_status, + this->incoming_result_response.action_status); ASSERT_EQ( this->outgoing_result_response.sequence.size, this->incoming_result_response.sequence.size); EXPECT_TRUE(!memcmp( @@ -448,7 +454,7 @@ TEST_F( action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response); // Initialize goal request - init_test_uuid0(this->outgoing_goal_request.uuid); + init_test_uuid0(this->outgoing_goal_request.action_goal_id.uuid); this->outgoing_goal_request.order = 10; // Send goal request with valid arguments @@ -487,7 +493,9 @@ TEST_F( // Check that the goal request was received correctly EXPECT_EQ(this->outgoing_goal_request.order, this->incoming_goal_request.order); - EXPECT_TRUE(uuidcmp(this->outgoing_goal_request.uuid, this->incoming_goal_request.uuid)); + EXPECT_TRUE(uuidcmp( + this->outgoing_goal_request.action_goal_id.uuid, + this->incoming_goal_request.action_goal_id.uuid)); // Initialize goal response this->outgoing_goal_response.accepted = true; @@ -537,7 +545,7 @@ TEST_F( EXPECT_EQ(this->outgoing_goal_response.stamp.nanosec, this->incoming_goal_response.stamp.nanosec); // Initialize result request - init_test_uuid0(this->outgoing_result_request.uuid); + init_test_uuid0(this->outgoing_result_request.action_goal_id.uuid); // Send result request with valid arguments ret = rcl_action_send_result_request( @@ -550,7 +558,7 @@ TEST_F( this->outgoing_feedback.sequence.data[0] = 0; this->outgoing_feedback.sequence.data[1] = 1; this->outgoing_feedback.sequence.data[2] = 2; - init_test_uuid0(this->outgoing_feedback.uuid); + init_test_uuid0(this->outgoing_feedback.action_goal_id.uuid); // Publish feedback with valid arguments ret = rcl_action_publish_feedback(&this->action_server, &this->outgoing_feedback); @@ -587,7 +595,9 @@ TEST_F( EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; // Check that feedback was received correctly - EXPECT_TRUE(uuidcmp(this->outgoing_feedback.uuid, this->incoming_feedback.uuid)); + EXPECT_TRUE(uuidcmp( + this->outgoing_feedback.action_goal_id.uuid, + this->incoming_feedback.action_goal_id.uuid)); ASSERT_EQ(this->outgoing_feedback.sequence.size, this->incoming_feedback.sequence.size); EXPECT_TRUE(!memcmp( this->outgoing_feedback.sequence.data, @@ -624,8 +634,8 @@ TEST_F( // Check that the result request was received correctly EXPECT_TRUE(uuidcmp( - this->outgoing_result_request.uuid, - this->incoming_result_request.uuid)); + this->outgoing_result_request.action_goal_id.uuid, + this->incoming_result_request.action_goal_id.uuid)); // Initialize result response ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init( @@ -634,7 +644,7 @@ TEST_F( this->outgoing_result_response.sequence.data[1] = 1; this->outgoing_result_response.sequence.data[2] = 2; this->outgoing_result_response.sequence.data[3] = 6; - this->outgoing_result_response.status = + this->outgoing_result_response.action_status = action_msgs__msg__GoalStatus__STATUS_SUCCEEDED; // Initialize cancel request @@ -778,7 +788,9 @@ TEST_F( EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; // Check that the result response was received correctly - EXPECT_EQ(this->outgoing_result_response.status, this->incoming_result_response.status); + EXPECT_EQ( + this->outgoing_result_response.action_status, + this->incoming_result_response.action_status); ASSERT_EQ( this->outgoing_result_response.sequence.size, this->incoming_result_response.sequence.size); EXPECT_TRUE(!memcmp(