Add Action graph API (#411)
* Add action graph API Builds on top of the rcl graph API. A list of action names associated with action clients can be constructed by looking for subscriber topic names that have the suffix "/_action/feedback". Likewise, action servers are associated with publisher topic names with the same suffix. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Enable multiple rmw action graph API tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use ament_target_dependencies for osrf_testing_tools_cpp Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix lint errors Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor * Move graph API common implementation to local function * Refactor tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Disable graph tests with OpenSplice Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include graph.h in rcl_action.h Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove duplicate test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Prefix increment operators Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Rename 'suffix' -> 'identifier' Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add missing finalize calls and remove redundant branch Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Finalize names and types struct on error Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix bugs in tests Pass valid names and types struct and update expected error code. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add zero allocator tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix indentation Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Check if action identifiers are the suffix Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron
GitHub
parent
11b5eb865b
commit
b5039d20d7
5 changed files with 961 additions and 1 deletions
563
rcl_action/test/rcl_action/test_graph.cpp
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563
rcl_action/test/rcl_action/test_graph.cpp
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// Copyright 2019 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 <chrono>
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#include <thread>
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#include "rcl_action/action_client.h"
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#include "rcl_action/action_server.h"
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#include "rcl_action/graph.h"
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "test_msgs/action/fibonacci.h"
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#ifdef RMW_IMPLEMENTATION
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# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
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# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
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#else
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# define CLASSNAME(NAME, SUFFIX) NAME
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#endif
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class CLASSNAME (TestActionGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
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{
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public:
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_allocator_t zero_allocator;
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rcl_context_t old_context;
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rcl_context_t context;
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rcl_node_t old_node;
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rcl_node_t node;
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rcl_node_t zero_node;
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const char * test_graph_node_name = "test_action_graph_node";
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const char * test_graph_old_node_name = "test_action_graph_old_node_name";
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void SetUp()
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{
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rcl_ret_t ret;
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this->zero_node = rcl_get_zero_initialized_node();
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this->zero_allocator = static_cast<rcl_allocator_t>(rcutils_get_zero_initialized_allocator());
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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ret = rcl_init_options_init(&init_options, this->allocator);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
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});
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this->old_context = rcl_get_zero_initialized_context();
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ret = rcl_init(0, nullptr, &init_options, &this->old_context);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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this->old_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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ret = rcl_node_init(
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&this->old_node, this->test_graph_old_node_name, "", &this->old_context, &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_shutdown(&this->old_context); // after this, the old_node should be invalid
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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this->context = rcl_get_zero_initialized_context();
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ret = rcl_init(0, nullptr, &init_options, &this->context);
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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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ret = rcl_node_init(&this->node, test_graph_node_name, "", &this->context, &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()
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{
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rcl_ret_t ret;
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ret = rcl_node_fini(&this->old_node);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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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(&this->context);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_context_fini(&this->context);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_context_fini(&this->old_context);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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};
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TEST_F(
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CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
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test_action_get_client_names_and_types_by_node)
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{
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rcl_ret_t ret;
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rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
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// Invalid node
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ret = rcl_action_get_client_names_and_types_by_node(
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nullptr, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->zero_node, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->old_node, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid allocator
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->node, nullptr, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->node, &this->zero_allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid node name
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->node, &this->allocator, "_test_this_Isnot_a_valid_name", "", &nat);
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EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Non-existent node
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->node, &this->allocator, this->test_graph_old_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid names and types
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->node, &this->allocator, this->test_graph_node_name, "", nullptr);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Valid call
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ret = rcl_action_get_client_names_and_types_by_node(
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&this->node, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_names_and_types_fini(&nat);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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TEST_F(
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CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
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test_action_get_server_names_and_types_by_node)
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{
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rcl_ret_t ret;
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rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
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// Invalid node
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ret = rcl_action_get_server_names_and_types_by_node(
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nullptr, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->zero_node, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->old_node, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid allocator
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->node, nullptr, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->node, &this->zero_allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid node name
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->node, &this->allocator, "_test_this_Isnot_a_valid_name", "", &nat);
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EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Non-existent node
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->node, &this->allocator, this->test_graph_old_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid names and types
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->node, &this->allocator, this->test_graph_node_name, "", nullptr);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Valid call
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ret = rcl_action_get_server_names_and_types_by_node(
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&this->node, &this->allocator, this->test_graph_node_name, "", &nat);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_names_and_types_fini(&nat);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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TEST_F(
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CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION),
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test_action_get_names_and_types)
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{
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rcl_ret_t ret;
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rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
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// Invalid node
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ret = rcl_action_get_names_and_types(nullptr, &this->allocator, &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_names_and_types(&this->zero_node, &this->allocator, &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_names_and_types(&this->old_node, &this->allocator, &nat);
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EXPECT_EQ(RCL_RET_NODE_INVALID, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid allocator
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ret = rcl_action_get_names_and_types(&this->node, nullptr, &nat);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_get_names_and_types(&this->node, &this->zero_allocator, &nat);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Invalid names and types
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ret = rcl_action_get_names_and_types(&this->node, &this->allocator, nullptr);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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// Valid call
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ret = rcl_action_get_names_and_types(&this->node, &this->allocator, &nat);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_names_and_types_fini(&nat);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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/**
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* Type define a get actions function.
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*/
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typedef std::function<rcl_ret_t(const rcl_node_t *,
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rcl_names_and_types_t *)> GetActionsFunc;
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/**
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* Extend the TestActionGraphFixture with a multi-node fixture for node discovery and node-graph
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* perspective.
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*/
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class TestActionGraphMultiNodeFixture : public CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION)
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{
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public:
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const char * remote_node_name = "remote_graph_node";
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const char * action_name = "/test_action_info_functions__";
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rcl_node_t remote_node;
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rcl_context_t remote_context;
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GetActionsFunc action_func, clients_by_node_func, servers_by_node_func;
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void SetUp() override
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{
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CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::SetUp();
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rcl_ret_t ret;
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) <<
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rcl_get_error_string().str;
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});
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this->remote_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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this->remote_context = rcl_get_zero_initialized_context();
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ret = rcl_init(0, nullptr, &init_options, &this->remote_context);
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ret = rcl_node_init(
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&this->remote_node, this->remote_node_name, "", &this->remote_context, &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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action_func = std::bind(rcl_action_get_names_and_types,
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std::placeholders::_1,
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&this->allocator,
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std::placeholders::_2);
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clients_by_node_func = std::bind(rcl_action_get_client_names_and_types_by_node,
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std::placeholders::_1,
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&this->allocator,
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this->remote_node_name,
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"",
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std::placeholders::_2);
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servers_by_node_func = std::bind(rcl_action_get_server_names_and_types_by_node,
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std::placeholders::_1,
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&this->allocator,
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this->remote_node_name,
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"",
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std::placeholders::_2);
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WaitForAllNodesAlive();
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}
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void TearDown() override
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{
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CLASSNAME(TestActionGraphFixture, RMW_IMPLEMENTATION) ::TearDown();
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rcl_ret_t ret;
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ret = rcl_node_fini(&this->remote_node);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_shutdown(&this->remote_context);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_context_fini(&this->remote_context);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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void WaitForAllNodesAlive()
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{
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rcl_ret_t ret;
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rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
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rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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ret = rcutils_string_array_fini(&node_names);
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ASSERT_EQ(RCUTILS_RET_OK, ret);
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ret = rcutils_string_array_fini(&node_namespaces);
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ASSERT_EQ(RCUTILS_RET_OK, ret);
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});
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// Wait for all 3 nodes to be discovered: remote_node, old_node, node
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size_t attempts = 0u;
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size_t max_attempts = 4u;
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while (node_names.size < 3u) {
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||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);
|
||||
++attempts;
|
||||
ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
|
||||
}
|
||||
}
|
||||
|
||||
void WaitForActionCount(
|
||||
GetActionsFunc func,
|
||||
size_t expected_count,
|
||||
std::chrono::milliseconds duration)
|
||||
{
|
||||
auto start_time = std::chrono::system_clock::now();
|
||||
auto curr_time = start_time;
|
||||
|
||||
rcl_ret_t ret;
|
||||
while ((curr_time - start_time) < duration) {
|
||||
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
|
||||
ret = func(&this->node, &nat);
|
||||
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
size_t action_count = nat.names.size;
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
if (action_count == expected_count) {
|
||||
return;
|
||||
}
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(200));
|
||||
curr_time = std::chrono::system_clock::now();
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
// Note, this test could be affected by other communication on the same ROS domain
|
||||
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_names_and_types) {
|
||||
rcl_ret_t ret;
|
||||
// Create an action client
|
||||
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
|
||||
const rosidl_action_type_support_t * action_typesupport =
|
||||
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
|
||||
const char * client_action_name = "/test_action_get_names_and_types_client_action_name";
|
||||
rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
|
||||
ret = rcl_action_client_init(
|
||||
&action_client,
|
||||
&this->remote_node,
|
||||
action_typesupport,
|
||||
client_action_name,
|
||||
&action_client_options);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
|
||||
rcl_get_error_string().str;
|
||||
});
|
||||
|
||||
WaitForActionCount(action_func, 1u, std::chrono::seconds(1));
|
||||
|
||||
// Check that there is exactly one action name
|
||||
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
|
||||
ret = action_func(&this->node, &nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
ASSERT_EQ(nat.names.size, 1u);
|
||||
EXPECT_STREQ(nat.names.data[0], client_action_name);
|
||||
ASSERT_EQ(nat.types[0].size, 1u);
|
||||
EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
|
||||
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
|
||||
// Create an action server
|
||||
rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
|
||||
rcl_clock_t clock;
|
||||
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
|
||||
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
|
||||
});
|
||||
const char * server_action_name = "/test_action_get_names_and_types_server_action_name";
|
||||
rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
|
||||
ret = rcl_action_server_init(
|
||||
&action_server,
|
||||
&this->remote_node,
|
||||
&clock,
|
||||
action_typesupport,
|
||||
server_action_name,
|
||||
&action_server_options);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
|
||||
rcl_get_error_string().str;
|
||||
});
|
||||
|
||||
WaitForActionCount(action_func, 2u, std::chrono::seconds(1));
|
||||
|
||||
ret = action_func(&this->node, &nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
ASSERT_EQ(nat.names.size, 2u);
|
||||
EXPECT_STREQ(nat.names.data[0], client_action_name);
|
||||
EXPECT_STREQ(nat.names.data[1], server_action_name);
|
||||
ASSERT_EQ(nat.types[0].size, 1u);
|
||||
EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
|
||||
ASSERT_EQ(nat.types[1].size, 1u);
|
||||
EXPECT_STREQ(nat.types[1].data[0], "test_msgs/Fibonacci");
|
||||
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
// Note, this test could be affected by other communication on the same ROS domain
|
||||
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_server_names_and_types_by_node) {
|
||||
rcl_ret_t ret;
|
||||
// Create an action client
|
||||
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
|
||||
const rosidl_action_type_support_t * action_typesupport =
|
||||
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
|
||||
rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
|
||||
ret = rcl_action_client_init(
|
||||
&action_client,
|
||||
&this->remote_node,
|
||||
action_typesupport,
|
||||
this->action_name,
|
||||
&action_client_options);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
|
||||
rcl_get_error_string().str;
|
||||
});
|
||||
// Check that there are no action servers
|
||||
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
|
||||
ret = rcl_action_get_server_names_and_types_by_node(
|
||||
&this->node, &this->allocator, this->remote_node_name, "", &nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
ASSERT_EQ(nat.names.size, 0u);
|
||||
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
|
||||
// Create an action server
|
||||
rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
|
||||
rcl_clock_t clock;
|
||||
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
|
||||
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
|
||||
});
|
||||
rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
|
||||
ret = rcl_action_server_init(
|
||||
&action_server,
|
||||
&this->remote_node,
|
||||
&clock,
|
||||
action_typesupport,
|
||||
this->action_name,
|
||||
&action_server_options);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
|
||||
rcl_get_error_string().str;
|
||||
});
|
||||
|
||||
WaitForActionCount(servers_by_node_func, 1u, std::chrono::seconds(1));
|
||||
ret = servers_by_node_func(&this->node, &nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
ASSERT_EQ(nat.names.size, 1u);
|
||||
EXPECT_STREQ(nat.names.data[0], this->action_name);
|
||||
ASSERT_EQ(nat.types[0].size, 1u);
|
||||
EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
|
||||
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
}
|
||||
|
||||
// Note, this test could be affected by other communication on the same ROS domain
|
||||
TEST_F(TestActionGraphMultiNodeFixture, test_action_get_client_names_and_types_by_node) {
|
||||
rcl_ret_t ret;
|
||||
const rosidl_action_type_support_t * action_typesupport =
|
||||
ROSIDL_GET_ACTION_TYPE_SUPPORT(test_msgs, Fibonacci);
|
||||
// Create an action server
|
||||
rcl_action_server_t action_server = rcl_action_get_zero_initialized_server();
|
||||
rcl_clock_t clock;
|
||||
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &this->allocator);
|
||||
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&clock)) << rcl_get_error_string().str;
|
||||
});
|
||||
rcl_action_server_options_t action_server_options = rcl_action_server_get_default_options();
|
||||
ret = rcl_action_server_init(
|
||||
&action_server,
|
||||
&this->remote_node,
|
||||
&clock,
|
||||
action_typesupport,
|
||||
this->action_name,
|
||||
&action_server_options);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_action_server_fini(&action_server, &this->remote_node)) <<
|
||||
rcl_get_error_string().str;
|
||||
});
|
||||
|
||||
// Check that there are no action clients
|
||||
rcl_names_and_types_t nat = rcl_get_zero_initialized_names_and_types();
|
||||
ret = rcl_action_get_client_names_and_types_by_node(
|
||||
&this->node, &this->allocator, this->remote_node_name, "", &nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
ASSERT_EQ(nat.names.size, 0u);
|
||||
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
|
||||
// Create an action client
|
||||
rcl_action_client_t action_client = rcl_action_get_zero_initialized_client();
|
||||
rcl_action_client_options_t action_client_options = rcl_action_client_get_default_options();
|
||||
ret = rcl_action_client_init(
|
||||
&action_client,
|
||||
&this->remote_node,
|
||||
action_typesupport,
|
||||
this->action_name,
|
||||
&action_client_options);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
|
||||
EXPECT_EQ(RCL_RET_OK, rcl_action_client_fini(&action_client, &this->remote_node)) <<
|
||||
rcl_get_error_string().str;
|
||||
});
|
||||
|
||||
WaitForActionCount(clients_by_node_func, 1u, std::chrono::seconds(1));
|
||||
ret = clients_by_node_func(&this->node, &nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
ASSERT_EQ(nat.names.size, 1u);
|
||||
EXPECT_STREQ(nat.names.data[0], this->action_name);
|
||||
ASSERT_EQ(nat.types[0].size, 1u);
|
||||
EXPECT_STREQ(nat.types[0].data[0], "test_msgs/Fibonacci");
|
||||
|
||||
ret = rcl_names_and_types_fini(&nat);
|
||||
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue