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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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47
rcl_action/test/rcl_action/test_action_communication.cpp
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@ -117,7 +117,6 @@ protected:
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
}
void init_test_uuid0(uint8_t * uuid)
@ -174,16 +173,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
rcl_ret_t ret = rcl_action_send_goal_request(
&this->action_client, &outgoing_goal_request, &sequence_number);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_server_wait_set_get_entities_ready(
&this->wait_set,
@ -193,7 +189,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_goal_request_ready) << rcl_get_error_string().str;
EXPECT_FALSE(this->is_cancel_request_ready) << rcl_get_error_string().str;
@ -203,13 +198,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
rmw_request_id_t request_header;
ret = rcl_action_take_goal_request(&this->action_server, &request_header, &incoming_goal_request);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that the goal request was received correctly
EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order);
rcl_reset_error();
EXPECT_TRUE(uuidcmp(outgoing_goal_request.uuid, incoming_goal_request.uuid));
rcl_reset_error();
// Initialize goal response
outgoing_goal_response.accepted = true;
@ -220,18 +212,15 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
ret = rcl_action_send_goal_response(
&this->action_server, &request_header, &outgoing_goal_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait_set_clear(&this->wait_set);
ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
@ -243,7 +232,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_goal_response_ready);
EXPECT_FALSE(this->is_cancel_response_ready);
@ -255,15 +243,11 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
ret = rcl_action_take_goal_response(
&this->action_client, &request_header, &incoming_goal_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that the goal response was received correctly
EXPECT_EQ(outgoing_goal_response.accepted, incoming_goal_response.accepted);
rcl_reset_error();
EXPECT_EQ(outgoing_goal_response.stamp.sec, incoming_goal_response.stamp.sec);
rcl_reset_error();
EXPECT_EQ(outgoing_goal_response.stamp.nanosec, incoming_goal_response.stamp.nanosec);
rcl_reset_error();
test_msgs__action__Fibonacci_Goal_Request__fini(&outgoing_goal_request);
test_msgs__action__Fibonacci_Goal_Request__fini(&incoming_goal_request);
@ -293,15 +277,12 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
rcl_ret_t ret = rcl_action_send_cancel_request(
&this->action_client, &outgoing_cancel_request, &sequence_number);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_server_wait_set_get_entities_ready(
&this->wait_set,
@ -311,7 +292,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_cancel_request_ready);
EXPECT_FALSE(this->is_goal_request_ready);
@ -322,7 +302,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
ret = rcl_action_take_cancel_request(
&this->action_server, &request_header, &incoming_cancel_request);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that the cancel request was received correctly
EXPECT_TRUE(uuidcmp(
@ -350,18 +329,15 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
ret = rcl_action_send_cancel_response(
&this->action_server, &request_header, &outgoing_cancel_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait_set_clear(&this->wait_set);
ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
@ -372,7 +348,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_cancel_response_ready);
EXPECT_FALSE(this->is_feedback_ready);
@ -384,7 +359,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
ret = rcl_action_take_cancel_response(
&this->action_client, &request_header, &incoming_cancel_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that the cancel response was received correctly
ASSERT_EQ(
@ -425,15 +399,12 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
rcl_ret_t ret = rcl_action_send_result_request(
&this->action_client, &outgoing_result_request, &sequence_number);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_server_wait_set_get_entities_ready(
&this->wait_set,
@ -443,7 +414,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_result_request_ready);
EXPECT_FALSE(this->is_cancel_request_ready);
@ -454,7 +424,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ret = rcl_action_take_result_request(
&this->action_server, &request_header, &incoming_result_request);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that the result request was received correctly
EXPECT_TRUE(uuidcmp(
@ -475,18 +444,15 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ret = rcl_action_send_result_response(
&this->action_server, &request_header, &outgoing_result_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait_set_clear(&this->wait_set);
ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
@ -497,7 +463,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_result_response_ready);
EXPECT_FALSE(this->is_cancel_response_ready);
@ -509,7 +474,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ret = rcl_action_take_result_response(
&this->action_client, &request_header, &incoming_result_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that the result response was received correctly
EXPECT_EQ(outgoing_result_response.status, incoming_result_response.status);
@ -545,23 +509,19 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
ret = rcl_action_get_goal_status_array(&this->action_server, &status_array);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Publish status with valid arguments (one goal in array)
ret = rcl_action_publish_status(&this->action_server, &status_array.msg);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait_set_clear(&this->wait_set);
ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
@ -572,7 +532,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_status_ready);
EXPECT_FALSE(this->is_result_response_ready);
@ -583,7 +542,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
// Take status with valid arguments (one goal in array)
ret = rcl_action_take_status(&this->action_client, &incoming_status_array);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that status was received correctly
ASSERT_EQ(status_array.msg.status_list.size, incoming_status_array.status_list.size);
@ -624,16 +582,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
// Publish feedback with valid arguments
rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
@ -644,7 +599,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
EXPECT_TRUE(this->is_feedback_ready);
EXPECT_FALSE(this->is_status_ready);
@ -655,7 +609,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
// Take feedback with valid arguments
ret = rcl_action_take_feedback(&this->action_client, &incoming_feedback);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(outgoing_feedback.uuid, incoming_feedback.uuid));