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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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30
rcl_action/test/rcl_action/test_action_communication.cpp
View file

@ -165,7 +165,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response); test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response);
// Initialize 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; outgoing_goal_request.order = 10;
// Send goal request with valid arguments // 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 // Check that the goal request was received correctly
EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order); 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 // Initialize goal response
outgoing_goal_response.accepted = true; 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); test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response);
// Initialize 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 valid arguments // Send result request with valid arguments
int64_t sequence_number; 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 // Check that the result request was received correctly
EXPECT_TRUE(uuidcmp( EXPECT_TRUE(uuidcmp(
outgoing_result_request.uuid, outgoing_result_request.action_goal_id.uuid,
incoming_result_request.uuid)); incoming_result_request.action_goal_id.uuid));
// Initialize result response // Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init( 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[1] = 1;
outgoing_result_response.sequence.data[2] = 2; outgoing_result_response.sequence.data[2] = 2;
outgoing_result_response.sequence.data[3] = 6; outgoing_result_response.sequence.data[3] = 6;
outgoing_result_response.status = outgoing_result_response.action_status =
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED; action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
// Send result response with valid arguments // 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; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the result response was received correctly // 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); ASSERT_EQ(outgoing_result_response.sequence.size, incoming_result_response.sequence.size);
EXPECT_TRUE(!memcmp( EXPECT_TRUE(!memcmp(
outgoing_result_response.sequence.data, 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[0] = 0;
outgoing_feedback.sequence.data[1] = 1; outgoing_feedback.sequence.data[1] = 1;
outgoing_feedback.sequence.data[2] = 2; 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 // Publish feedback with valid arguments
rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback); 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; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that feedback was received correctly // 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); ASSERT_EQ(outgoing_feedback.sequence.size, incoming_feedback.sequence.size);
EXPECT_TRUE(!memcmp( EXPECT_TRUE(!memcmp(
outgoing_feedback.sequence.data, 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); test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request);
// Initialize 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; outgoing_goal_request.order = 10;
int64_t sequence_number = 1234; int64_t sequence_number = 1234;
rcl_ret_t ret = 0; 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); test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request);
// Initialize 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 // Send result request with null action client
int64_t sequence_number = 1324; 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[1] = 1;
outgoing_result_response.sequence.data[2] = 2; outgoing_result_response.sequence.data[2] = 2;
outgoing_result_response.sequence.data[3] = 6; outgoing_result_response.sequence.data[3] = 6;
outgoing_result_response.status = outgoing_result_response.action_status =
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED; action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
// Send result response with null action client // 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[0] = 0;
outgoing_feedback.sequence.data[1] = 1; outgoing_feedback.sequence.data[1] = 1;
outgoing_feedback.sequence.data[2] = 2; 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 // Publish feedback with null action server
rcl_ret_t ret = rcl_action_publish_feedback(nullptr, &outgoing_feedback); rcl_ret_t ret = rcl_action_publish_feedback(nullptr, &outgoing_feedback);

48
rcl_action/test/rcl_action/test_action_interaction.cpp
View file

@ -196,7 +196,7 @@ protected:
TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction) TEST_F(CLASSNAME(TestActionClientServerInteraction, RMW_IMPLEMENTATION), test_interaction)
{ {
// Initialize goal request // 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; this->outgoing_goal_request.order = 10;
// Send goal request with valid arguments // 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 // Check that the goal request was received correctly
EXPECT_EQ(this->outgoing_goal_request.order, this->incoming_goal_request.order); 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 // Initialize goal response
this->outgoing_goal_response.accepted = true; 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); EXPECT_EQ(this->outgoing_goal_response.stamp.nanosec, this->incoming_goal_response.stamp.nanosec);
// Initialize result request // 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 // Send result request with valid arguments
ret = rcl_action_send_result_request( 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[0] = 0;
this->outgoing_feedback.sequence.data[1] = 1; this->outgoing_feedback.sequence.data[1] = 1;
this->outgoing_feedback.sequence.data[2] = 2; 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 // Publish feedback with valid arguments
ret = rcl_action_publish_feedback(&this->action_server, &this->outgoing_feedback); 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; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that feedback was received correctly // 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); ASSERT_EQ(this->outgoing_feedback.sequence.size, this->incoming_feedback.sequence.size);
EXPECT_TRUE(!memcmp( EXPECT_TRUE(!memcmp(
this->outgoing_feedback.sequence.data, 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 // Check that the result request was received correctly
EXPECT_TRUE(uuidcmp( EXPECT_TRUE(uuidcmp(
this->outgoing_result_request.uuid, this->outgoing_result_request.action_goal_id.uuid,
this->incoming_result_request.uuid)); this->incoming_result_request.action_goal_id.uuid));
// Initialize result response // Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init( 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[1] = 1;
this->outgoing_result_response.sequence.data[2] = 2; this->outgoing_result_response.sequence.data[2] = 2;
this->outgoing_result_response.sequence.data[3] = 6; 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; action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
// Send result response with valid arguments // 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; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the result response was received correctly // 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( ASSERT_EQ(
this->outgoing_result_response.sequence.size, this->incoming_result_response.sequence.size); this->outgoing_result_response.sequence.size, this->incoming_result_response.sequence.size);
EXPECT_TRUE(!memcmp( EXPECT_TRUE(!memcmp(
@ -448,7 +454,7 @@ TEST_F(
action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response); action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response);
// Initialize goal request // 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; this->outgoing_goal_request.order = 10;
// Send goal request with valid arguments // Send goal request with valid arguments
@ -487,7 +493,9 @@ TEST_F(
// Check that the goal request was received correctly // Check that the goal request was received correctly
EXPECT_EQ(this->outgoing_goal_request.order, this->incoming_goal_request.order); 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 // Initialize goal response
this->outgoing_goal_response.accepted = true; 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); EXPECT_EQ(this->outgoing_goal_response.stamp.nanosec, this->incoming_goal_response.stamp.nanosec);
// Initialize result request // 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 // Send result request with valid arguments
ret = rcl_action_send_result_request( ret = rcl_action_send_result_request(
@ -550,7 +558,7 @@ TEST_F(
this->outgoing_feedback.sequence.data[0] = 0; this->outgoing_feedback.sequence.data[0] = 0;
this->outgoing_feedback.sequence.data[1] = 1; this->outgoing_feedback.sequence.data[1] = 1;
this->outgoing_feedback.sequence.data[2] = 2; 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 // Publish feedback with valid arguments
ret = rcl_action_publish_feedback(&this->action_server, &this->outgoing_feedback); 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; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that feedback was received correctly // 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); ASSERT_EQ(this->outgoing_feedback.sequence.size, this->incoming_feedback.sequence.size);
EXPECT_TRUE(!memcmp( EXPECT_TRUE(!memcmp(
this->outgoing_feedback.sequence.data, this->outgoing_feedback.sequence.data,
@ -624,8 +634,8 @@ TEST_F(
// Check that the result request was received correctly // Check that the result request was received correctly
EXPECT_TRUE(uuidcmp( EXPECT_TRUE(uuidcmp(
this->outgoing_result_request.uuid, this->outgoing_result_request.action_goal_id.uuid,
this->incoming_result_request.uuid)); this->incoming_result_request.action_goal_id.uuid));
// Initialize result response // Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init( 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[1] = 1;
this->outgoing_result_response.sequence.data[2] = 2; this->outgoing_result_response.sequence.data[2] = 2;
this->outgoing_result_response.sequence.data[3] = 6; 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; action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
// Initialize cancel request // Initialize cancel request
@ -778,7 +788,9 @@ TEST_F(
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// Check that the result response was received correctly // 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( ASSERT_EQ(
this->outgoing_result_response.sequence.size, this->incoming_result_response.sequence.size); this->outgoing_result_response.sequence.size, this->incoming_result_response.sequence.size);
EXPECT_TRUE(!memcmp( EXPECT_TRUE(!memcmp(