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rcl_action_expire_goals() outputs goals that expire (#342)

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* rcl_action_expire_goals() outputs goals that expire
This commit is contained in:
Shane Loretz 2018-11-28 19:10:06 -08:00 • committed by GitHub
parent fbd2b08937
commit b2694dfb3d
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3 changed files with 58 additions and 10 deletions
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33
rcl_action/test/rcl_action/test_action_server.cpp
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@ -149,7 +149,7 @@ protected:
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(&this->node, "test_action_server_node", "", &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_clock_init(RCL_STEADY_TIME, &this->clock, &allocator);
ret = rcl_clock_init(RCL_ROS_TIME, &this->clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(
test_msgs, Fibonacci);
@ -271,28 +271,49 @@ TEST_F(TestActionServer, test_action_accept_new_goal)
TEST_F(TestActionServer, test_action_clear_expired_goals)
{
const size_t capacity = 1u;
rcl_action_goal_info_t expired_goals[1u];
size_t num_expired = 1u;
// Clear expired goals with null action server
rcl_ret_t ret = rcl_action_expire_goals(nullptr, &num_expired);
rcl_ret_t ret = rcl_action_expire_goals(nullptr, expired_goals, capacity, &num_expired);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
// Clear with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_expire_goals(&invalid_action_server, &num_expired);
ret = rcl_action_expire_goals(&invalid_action_server, expired_goals, capacity, &num_expired);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
rcl_reset_error();
// Clear with valid arguments
ret = rcl_action_expire_goals(&this->action_server, &num_expired);
ret = rcl_action_expire_goals(&this->action_server, expired_goals, capacity, &num_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(num_expired, 0u);
// Clear with valid arguments (optional num_expired)
ret = rcl_action_expire_goals(&this->action_server, nullptr);
ret = rcl_action_expire_goals(&this->action_server, nullptr, 0u, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// TODO(jacobperron): Test with goals that actually expire
// Test with goals that actually expire
// Set ROS time
ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&this->clock));
ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&this->clock, RCUTILS_S_TO_NS(1)));
// Accept a goal to create a new handle
rcl_action_goal_info_t goal_info_in = rcl_action_get_zero_initialized_goal_info();
init_test_uuid1(goal_info_in.uuid);
rcl_action_goal_handle_t * goal_handle =
rcl_action_accept_new_goal(&this->action_server, &goal_info_in);
ASSERT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
// Transition executing to aborted
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_EXECUTE));
ASSERT_EQ(RCL_RET_OK, rcl_action_update_goal_state(goal_handle, GOAL_EVENT_SET_ABORTED));
// Set time to something far in the future
ASSERT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&this->clock, RCUTILS_S_TO_NS(99999)));
// Clear with valid arguments
ret = rcl_action_expire_goals(&this->action_server, expired_goals, capacity, &num_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
EXPECT_EQ(num_expired, 1u);
EXPECT_TRUE(uuidcmp(expired_goals[0].uuid, goal_info_in.uuid));
}
TEST_F(TestActionServer, test_action_process_cancel_request)