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[rcl action] Adds action client tests.

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This commit is contained in:
Michel Hidalgo 2018-11-12 13:58:28 -03:00
parent cca18daad2
commit 7efd1a15ae
4 changed files with 235 additions and 15 deletions
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25
rcl_action/CMakeLists.txt
View file

@ -70,20 +70,23 @@ install(TARGETS ${PROJECT_NAME}
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_lint_auto REQUIRED)
find_package(test_msgs REQUIRED)
ament_lint_auto_find_test_dependencies()
ament_find_gtest()
# Gtests
# ament_add_gtest(test_action_client
# test/rcl_action/test_action_client.cpp
# )
# if(TARGET test_action_client)
# target_include_directories(test_action_client PUBLIC
# ${rcl_INCLUDE_DIRS}
# )
# target_link_libraries(test_action_client
# ${PROJECT_NAME}
# )
# endif()
ament_add_gtest(test_action_client
test/rcl_action/test_action_client.cpp
)
if(TARGET test_action_client)
target_include_directories(test_action_client PUBLIC
${rcl_INCLUDE_DIRS}
${test_msgs_INCLUDE_DIRS}
)
target_link_libraries(test_action_client
${PROJECT_NAME}
${test_msgs_LIBRARIES}
)
endif()
ament_add_gtest(test_goal_handle
test/rcl_action/test_goal_handle.cpp
)

1
rcl_action/package.xml
View file

@ -18,6 +18,7 @@
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>test_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>

7
rcl_action/src/rcl_action/action_client.c
View file

@ -18,6 +18,7 @@ extern "C"
#endif
#include "rcl_action/action_client.h"
#include "rcl_action/default_qos.h"
#include "rcl_action/names.h"
#include "rcl_action/types.h"
@ -688,7 +689,8 @@ rcl_action_client_get_action_name(const rcl_action_client_t * action_client)
}
const rcl_action_client_options_t *
rcl_action_client_get_options(const rcl_action_client_t * action_client) {
rcl_action_client_get_options(const rcl_action_client_t * action_client)
{
if (!rcl_action_client_is_valid(action_client)) {
return NULL;
}
@ -708,7 +710,8 @@ rcl_action_client_is_valid(const rcl_action_client_t * action_client)
rcl_ret_t
rcl_action_wait_set_add_action_client(
rcl_wait_set_t * wait_set,
const rcl_action_client_t * action_client) {
const rcl_action_client_t * action_client)
{
rcl_ret_t ret;
RCL_CHECK_ARGUMENT_FOR_NULL(wait_set, RCL_RET_WAIT_SET_INVALID);
if (!rcl_action_client_is_valid(action_client)) {

213
rcl_action/test/rcl_action/test_action_client.cpp Normal file
View file

@ -0,0 +1,213 @@
// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include "rcl_action/action_client.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "test_msgs/action/fibonacci.h"
class TestActionClientBaseFixture : public ::testing::Test
{
protected:
void SetUp() override
{
rcl_ret_t ret = rcl_init(0, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
this->node = rcl_get_zero_initialized_node();
rcl_node_options_t node_options = rcl_node_get_default_options();
const char * node_name = "test_action_client_node";
ret = rcl_node_init(&this->node, node_name, "", &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
void TearDown() override
{
rcl_ret_t ret = rcl_node_fini(&this->node);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
rcl_node_t node;
};
TEST_F(TestActionClientBaseFixture, test_action_client_init_fini) {
rcl_ret_t ret = RCL_RET_OK;
rcl_action_client_t invalid_action_client =
rcl_action_get_zero_initialized_client();
rcl_node_t invalid_node = rcl_get_zero_initialized_node();
const char * action_name = "test_action_client_name";
const rosidl_action_type_support_t * action_typesupport =
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
const rcl_action_client_options_t action_client_options =
rcl_action_client_get_default_options();
rcl_action_client_options_t invalid_action_client_options =
rcl_action_client_get_default_options();
invalid_action_client_options.allocator =
(rcl_allocator_t)rcutils_get_zero_initialized_allocator();
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
ret = rcl_action_client_init(
nullptr, &this->node, action_typesupport,
action_name, &action_client_options);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, nullptr, action_typesupport,
action_name, &action_client_options);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &invalid_node, action_typesupport,
action_name, &action_client_options);
EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &this->node, nullptr,
action_name, &action_client_options);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &this->node, action_typesupport,
nullptr, &action_client_options);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &this->node,
action_typesupport, action_name,
nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &this->node,
action_typesupport, action_name,
&invalid_action_client_options);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &this->node, action_typesupport,
action_name, &action_client_options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_init(
&action_client, &this->node, action_typesupport,
action_name, &action_client_options);
EXPECT_EQ(ret, RCL_RET_ALREADY_INIT) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_fini(nullptr, &this->node);
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_fini(&invalid_action_client, &this->node);
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_fini(&action_client, nullptr);
EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_fini(&action_client, &invalid_node);
EXPECT_EQ(ret, RCL_RET_NODE_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_fini(&action_client, &this->node);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
}
class TestActionClientFixture : public TestActionClientBaseFixture
{
protected:
void SetUp() override
{
TestActionClientBaseFixture::SetUp();
this->action_client = rcl_action_get_zero_initialized_client();
const rosidl_action_type_support_t * action_typesupport =
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
this->action_client_options = rcl_action_client_get_default_options();
rcl_ret_t ret = rcl_action_client_init(
&this->action_client, &this->node, action_typesupport,
this->action_name, &this->action_client_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
this->invalid_action_client = rcl_action_get_zero_initialized_client();
}
void TearDown() override
{
rcl_ret_t ret = rcl_action_client_fini(&this->action_client, &this->node);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
TestActionClientBaseFixture::TearDown();
}
const char * const action_name = "test_action_client_name";
rcl_action_client_options_t action_client_options;
rcl_action_client_t invalid_action_client;
rcl_action_client_t action_client;
};
TEST_F(TestActionClientFixture, test_action_client_is_valid) {
bool is_valid = rcl_action_client_is_valid(nullptr);
EXPECT_FALSE(is_valid) << rcl_get_error_string().str;
rcl_reset_error();
is_valid = rcl_action_client_is_valid(&this->invalid_action_client);
EXPECT_FALSE(is_valid) << rcl_get_error_string().str;
rcl_reset_error();
is_valid = rcl_action_client_is_valid(&this->action_client);
EXPECT_TRUE(is_valid) << rcl_get_error_string().str;
rcl_reset_error();
}
TEST_F(TestActionClientFixture, test_action_client_get_action_name) {
const char * name = rcl_action_client_get_action_name(nullptr);
EXPECT_EQ(name, nullptr) << rcl_get_error_string().str;
rcl_reset_error();
name = rcl_action_client_get_action_name(&this->invalid_action_client);
EXPECT_EQ(name, nullptr) << rcl_get_error_string().str;
rcl_reset_error();
name = rcl_action_client_get_action_name(&this->action_client);
ASSERT_NE(name, nullptr) << rcl_get_error_string().str;
EXPECT_STREQ(name, this->action_name);
}
TEST_F(TestActionClientFixture, test_action_client_get_options) {
const rcl_action_client_options_t * options =
rcl_action_client_get_options(nullptr);
EXPECT_EQ(options, nullptr) << rcl_get_error_string().str;
rcl_reset_error();
options = rcl_action_client_get_options(&this->invalid_action_client);
EXPECT_EQ(options, nullptr) << rcl_get_error_string().str;
rcl_reset_error();
options = rcl_action_client_get_options(&this->action_client);
ASSERT_NE(options, nullptr) << rcl_get_error_string().str;
}