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Change UUID type in action msgs (#338)

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* Make use of unique_identifier_msgs/uuid in rcl_action

* Update to use goal_id.uuid

* Remove unnecessary find_package of unique_identifier_msgs
This commit is contained in:
Alexis Pojomovsky 2018-12-04 16:05:20 -03:00 • committed by Shane Loretz
parent c1dfda97e1
commit b1c4d95abe
6 changed files with 44 additions and 43 deletions
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21
rcl_action/test/rcl_action/test_action_communication.cpp
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@ -284,7 +284,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response);
// Initialize cancel request
init_test_uuid0(outgoing_cancel_request.goal_info.uuid);
init_test_uuid0(outgoing_cancel_request.goal_info.goal_id.uuid);
outgoing_cancel_request.goal_info.stamp.sec = 321;
outgoing_cancel_request.goal_info.stamp.nanosec = 987654u;
@ -326,8 +326,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
// Check that the cancel request was received correctly
EXPECT_TRUE(uuidcmp(
outgoing_cancel_request.goal_info.uuid,
incoming_cancel_request.goal_info.uuid));
outgoing_cancel_request.goal_info.goal_id.uuid,
incoming_cancel_request.goal_info.goal_id.uuid));
EXPECT_EQ(
outgoing_cancel_request.goal_info.stamp.sec,
incoming_cancel_request.goal_info.stamp.sec);
@ -338,10 +338,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
// Initialize cancel request
ASSERT_TRUE(action_msgs__msg__GoalInfo__Sequence__init(
&outgoing_cancel_response.goals_canceling, 2));
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].uuid);
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].goal_id.uuid);
outgoing_cancel_response.goals_canceling.data[0].stamp.sec = 102;
outgoing_cancel_response.goals_canceling.data[0].stamp.nanosec = 9468u;
init_test_uuid1(outgoing_cancel_response.goals_canceling.data[1].uuid);
init_test_uuid1(outgoing_cancel_response.goals_canceling.data[1].goal_id.uuid);
outgoing_cancel_response.goals_canceling.data[1].stamp.sec = 867;
outgoing_cancel_response.goals_canceling.data[1].stamp.nanosec = 6845u;
@ -395,7 +395,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
&outgoing_cancel_response.goals_canceling.data[i];
const action_msgs__msg__GoalInfo * incoming_goal_info =
&incoming_cancel_response.goals_canceling.data[i];
EXPECT_TRUE(uuidcmp(outgoing_goal_info->uuid, incoming_goal_info->uuid));
EXPECT_TRUE(uuidcmp(outgoing_goal_info->goal_id.uuid, incoming_goal_info->goal_id.uuid));
EXPECT_EQ(outgoing_goal_info->stamp.sec, incoming_goal_info->stamp.sec);
EXPECT_EQ(outgoing_goal_info->stamp.nanosec, incoming_goal_info->stamp.nanosec);
}
@ -592,7 +592,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
&status_array.msg.status_list.data[i];
const action_msgs__msg__GoalStatus * incoming_status =
&incoming_status_array.status_list.data[i];
EXPECT_TRUE(uuidcmp(outgoing_status->goal_info.uuid, incoming_status->goal_info.uuid));
EXPECT_TRUE(
uuidcmp(outgoing_status->goal_info.goal_id.uuid, incoming_status->goal_info.goal_id.uuid));
EXPECT_EQ(outgoing_status->goal_info.stamp.sec, incoming_status->goal_info.stamp.sec);
EXPECT_EQ(outgoing_status->goal_info.stamp.nanosec, incoming_status->goal_info.stamp.nanosec);
EXPECT_EQ(outgoing_status->status, incoming_status->status);
@ -794,7 +795,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
action_msgs__srv__CancelGoal_Request__init(&incoming_cancel_request);
// Initialize cancel request
init_test_uuid0(outgoing_cancel_request.goal_info.uuid);
init_test_uuid0(outgoing_cancel_request.goal_info.goal_id.uuid);
outgoing_cancel_request.goal_info.stamp.sec = 321;
outgoing_cancel_request.goal_info.stamp.nanosec = 987654u;
@ -855,10 +856,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
// Initialize cancel request
ASSERT_TRUE(action_msgs__msg__GoalInfo__Sequence__init(
&outgoing_cancel_response.goals_canceling, 2));
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].uuid);
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].goal_id.uuid);
outgoing_cancel_response.goals_canceling.data[0].stamp.sec = 102;
outgoing_cancel_response.goals_canceling.data[0].stamp.nanosec = 9468u;
init_test_uuid1(outgoing_cancel_response.goals_canceling.data[1].uuid);
init_test_uuid1(outgoing_cancel_response.goals_canceling.data[1].goal_id.uuid);
outgoing_cancel_response.goals_canceling.data[1].stamp.sec = 867;
outgoing_cancel_response.goals_canceling.data[1].stamp.nanosec = 6845u;