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[rcl action] Add action services and topics name getters

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This commit is contained in:
Michel Hidalgo 2018-10-31 15:46:55 -03:00
parent 77ef88a4f6
commit 8b65abeed5
4 changed files with 409 additions and 1 deletions
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rcl_action/test/rcl_action/test_names.cpp Normal file
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// 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/names.h"
#include "rcl/allocator.h"
#include "rcl/types.h"
TEST(TestActionNames, test_action_goal_service_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_goal_service_name;
ret = rcl_action_get_goal_service_name(
action_name, default_allocator, &action_goal_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/send_goal", action_goal_service_name);
default_allocator.deallocate(action_goal_service_name, default_allocator.state);
}
TEST(TestActionNames, test_action_cancel_service_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_cancel_service_name;
ret = rcl_action_get_cancel_service_name(
action_name, default_allocator, &action_cancel_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/cancel_goal", action_cancel_service_name);
default_allocator.deallocate(action_cancel_service_name, default_allocator.state);
}
TEST(TestActionNames, test_action_result_service_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_result_service_name;
ret = rcl_action_get_result_service_name(
action_name, default_allocator, &action_result_service_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/get_result", action_result_service_name);
default_allocator.deallocate(action_result_service_name, default_allocator.state);
}
TEST(TestActionNames, test_action_feedback_topic_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_feedback_topic_name;
ret = rcl_action_get_feedback_topic_name(
action_name, default_allocator, &action_feedback_topic_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/feedback", action_feedback_topic_name);
default_allocator.deallocate(action_feedback_topic_name, default_allocator.state);
}
TEST(TestActionNames, test_action_status_topic_name)
{
rcl_ret_t ret;
const char * const action_name = "test_it";
rcl_allocator_t default_allocator = rcl_get_default_allocator();
char * action_status_topic_name;
ret = rcl_action_get_status_topic_name(
action_name, default_allocator, &action_status_topic_name);
ASSERT_EQ(RCL_RET_OK, ret);
EXPECT_STREQ("test_it/_action/status", action_status_topic_name);
default_allocator.deallocate(action_status_topic_name, default_allocator.state);
}