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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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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 47 additions and 31 deletions
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48
rcl_action/test/rcl_action/test_action_interaction.cpp
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@ -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(