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Adds action interaction tests (#352)

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* Add action_interaction_tests

* Fixed tests to work with new uuid

* Added comments for each test

* Addressed peer review comments

* Removed unnecessary rcl_reset_error calls from test_action_communication

* Addressed second part of peer review
This commit is contained in:
Alexis Pojomovsky 2018-12-06 19:09:03 -03:00 • committed by Shane Loretz
parent a30ccdf894
commit c5798e4774
3 changed files with 810 additions and 56 deletions
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18
rcl_action/CMakeLists.txt
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@ -106,7 +106,7 @@ if(BUILD_TESTING)
function(custom_test_c target)
ament_add_gtest(
"test_action_communication_${target_suffix}" ${ARGN}
"${target}${target_suffix}" ${ARGN}
TIMEOUT 60
APPEND_LIBRARY_DIRS "${append_library_dirs}"
ENV
@ -115,24 +115,22 @@ if(BUILD_TESTING)
ROS_SECURITY_ROOT_DIRECTORY="${VALID_ROS_SECURITY_ROOT_DIRECTORY}"
PATH="${TEST_PATH}"
)
if(TARGET test_action_communication_${target_suffix})
target_compile_definitions(test_action_communication_${target_suffix}
if(TARGET ${target}${target_suffix})
target_compile_definitions(${target}${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
target_include_directories(test_action_communication_${target_suffix} PUBLIC
target_include_directories(${target}${target_suffix} PUBLIC
include
${rcl_INCLUDE_DIRS}
)
target_link_libraries(test_action_communication_${target_suffix}
target_link_libraries(${target}${target_suffix}
${PROJECT_NAME}
)
ament_target_dependencies(test_action_communication_${target_suffix}
ament_target_dependencies(${target}${target_suffix}
"test_msgs")
endif()
endfunction()
macro(targets)
set(VALID_ROS_SECURITY_ROOT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/test/test_security_files")
set(ENV_PATH "$ENV{PATH}")
file(TO_CMAKE_PATH "${ENV_PATH}" ENV_PATH)
set(TEST_PATH "${ENV_PATH}")
@ -146,8 +144,10 @@ if(BUILD_TESTING)
endif()
endif()
endif()
custom_test_c(rcl_action
custom_test_c(test_action_communication
"test/rcl_action/test_action_communication.cpp")
custom_test_c(test_action_interaction
"test/rcl_action/test_action_interaction.cpp")
endmacro()
call_for_each_rmw_implementation(targets)