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adapt to action implicit changes (#353)

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Shane Loretz 2018-12-06 16:42:41 -08:00 • committed by GitHub
parent 8d6fb9aab5
commit 66b82291a1
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2 changed files with 47 additions and 31 deletions
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rcl_action/test/rcl_action/test_action_communication.cpp
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@ -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);