[rcl action] Adds action client tests.
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Michel Hidalgo
parent
cca18daad2
commit
7efd1a15ae
4 changed files with 235 additions and 15 deletions
213
rcl_action/test/rcl_action/test_action_client.cpp
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rcl_action/test/rcl_action/test_action_client.cpp
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// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include "rcl_action/action_client.h"
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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#include "test_msgs/action/fibonacci.h"
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class TestActionClientBaseFixture : public ::testing::Test
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{
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protected:
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void SetUp() override
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{
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rcl_ret_t ret = rcl_init(0, nullptr, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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this->node = rcl_get_zero_initialized_node();
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rcl_node_options_t node_options = rcl_node_get_default_options();
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const char * node_name = "test_action_client_node";
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ret = rcl_node_init(&this->node, node_name, "", &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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void TearDown() override
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{
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rcl_ret_t ret = rcl_node_fini(&this->node);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_shutdown();
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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rcl_node_t node;
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};
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TEST_F(TestActionClientBaseFixture, test_action_client_init_fini) {
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rcl_ret_t ret = RCL_RET_OK;
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rcl_action_client_t invalid_action_client =
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rcl_action_get_zero_initialized_client();
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rcl_node_t invalid_node = rcl_get_zero_initialized_node();
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const char * action_name = "test_action_client_name";
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const rosidl_action_type_support_t * action_typesupport =
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ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
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const rcl_action_client_options_t action_client_options =
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rcl_action_client_get_default_options();
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rcl_action_client_options_t invalid_action_client_options =
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rcl_action_client_get_default_options();
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invalid_action_client_options.allocator =
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(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
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rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
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ret = rcl_action_client_init(
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nullptr, &this->node, action_typesupport,
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action_name, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, nullptr, action_typesupport,
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action_name, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &invalid_node, action_typesupport,
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action_name, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &this->node, nullptr,
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action_name, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &this->node, action_typesupport,
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nullptr, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &this->node,
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action_typesupport, action_name,
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nullptr);
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EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &this->node,
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action_typesupport, action_name,
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&invalid_action_client_options);
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EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &this->node, action_typesupport,
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action_name, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_init(
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&action_client, &this->node, action_typesupport,
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action_name, &action_client_options);
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EXPECT_EQ(ret, RCL_RET_ALREADY_INIT) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_fini(nullptr, &this->node);
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EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_fini(&invalid_action_client, &this->node);
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EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_fini(&action_client, nullptr);
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EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_fini(&action_client, &invalid_node);
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EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_client_fini(&action_client, &this->node);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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}
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class TestActionClientFixture : public TestActionClientBaseFixture
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{
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protected:
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void SetUp() override
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{
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TestActionClientBaseFixture::SetUp();
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this->action_client = rcl_action_get_zero_initialized_client();
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const rosidl_action_type_support_t * action_typesupport =
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ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
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this->action_client_options = rcl_action_client_get_default_options();
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rcl_ret_t ret = rcl_action_client_init(
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&this->action_client, &this->node, action_typesupport,
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this->action_name, &this->action_client_options);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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this->invalid_action_client = rcl_action_get_zero_initialized_client();
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}
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void TearDown() override
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{
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rcl_ret_t ret = rcl_action_client_fini(&this->action_client, &this->node);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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TestActionClientBaseFixture::TearDown();
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}
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const char * const action_name = "test_action_client_name";
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rcl_action_client_options_t action_client_options;
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rcl_action_client_t invalid_action_client;
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rcl_action_client_t action_client;
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};
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TEST_F(TestActionClientFixture, test_action_client_is_valid) {
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bool is_valid = rcl_action_client_is_valid(nullptr);
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EXPECT_FALSE(is_valid) << rcl_get_error_string().str;
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rcl_reset_error();
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is_valid = rcl_action_client_is_valid(&this->invalid_action_client);
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EXPECT_FALSE(is_valid) << rcl_get_error_string().str;
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rcl_reset_error();
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is_valid = rcl_action_client_is_valid(&this->action_client);
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EXPECT_TRUE(is_valid) << rcl_get_error_string().str;
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rcl_reset_error();
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}
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TEST_F(TestActionClientFixture, test_action_client_get_action_name) {
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const char * name = rcl_action_client_get_action_name(nullptr);
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EXPECT_EQ(name, nullptr) << rcl_get_error_string().str;
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rcl_reset_error();
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name = rcl_action_client_get_action_name(&this->invalid_action_client);
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EXPECT_EQ(name, nullptr) << rcl_get_error_string().str;
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rcl_reset_error();
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name = rcl_action_client_get_action_name(&this->action_client);
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ASSERT_NE(name, nullptr) << rcl_get_error_string().str;
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EXPECT_STREQ(name, this->action_name);
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}
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TEST_F(TestActionClientFixture, test_action_client_get_options) {
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const rcl_action_client_options_t * options =
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rcl_action_client_get_options(nullptr);
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EXPECT_EQ(options, nullptr) << rcl_get_error_string().str;
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rcl_reset_error();
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options = rcl_action_client_get_options(&this->invalid_action_client);
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EXPECT_EQ(options, nullptr) << rcl_get_error_string().str;
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rcl_reset_error();
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options = rcl_action_client_get_options(&this->action_client);
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ASSERT_NE(options, nullptr) << rcl_get_error_string().str;
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}
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