Addressed peer review comments
This commit is contained in:
Alexis Pojomovsky
parent
4ee3182380
commit
d03d5605c1
1 changed files with 133 additions and 390 deletions
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@ -57,6 +57,51 @@ protected:
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ret = rcl_action_client_init(
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&this->action_client, &this->node, ts, action_name, &client_options);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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this->wait_set_server = rcl_get_zero_initialized_wait_set();
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ret = rcl_action_server_wait_set_get_num_entities(
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&this->action_server,
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&this->num_subscriptions_server,
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&this->num_guard_conditions_server,
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&this->num_timers_server,
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&this->num_clients_server,
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&this->num_services_server);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait_set_init(
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&this->wait_set_server,
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this->num_subscriptions_server,
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this->num_guard_conditions_server,
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this->num_timers_server,
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this->num_clients_server,
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this->num_services_server,
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rcl_get_default_allocator());
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_wait_set_add_action_server(&this->wait_set_server, &this->action_server, NULL);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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this->wait_set_client = rcl_get_zero_initialized_wait_set();
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ret = rcl_action_client_wait_set_get_num_entities(
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&this->action_client,
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&this->num_subscriptions_client,
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&this->num_guard_conditions_client,
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&this->num_timers_client,
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&this->num_clients_client,
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&this->num_services_client);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait_set_init(
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&this->wait_set_client,
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this->num_subscriptions_client,
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this->num_guard_conditions_client,
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this->num_timers_client,
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this->num_clients_client,
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this->num_services_client,
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rcl_get_default_allocator());
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_wait_set_add_action_client(
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&this->wait_set_client, &this->action_client, NULL, NULL);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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}
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void TearDown() override
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@ -72,6 +117,12 @@ protected:
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_shutdown();
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_wait_set_fini(&this->wait_set_server);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_fini(&this->wait_set_client);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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}
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void init_test_uuid0(uint8_t * uuid)
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@ -92,6 +143,30 @@ protected:
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rcl_action_server_t action_server;
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rcl_node_t node;
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rcl_clock_t clock;
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rcl_wait_set_t wait_set_server;
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size_t num_subscriptions_server;
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size_t num_guard_conditions_server;
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size_t num_timers_server;
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size_t num_clients_server;
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size_t num_services_server;
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rcl_wait_set_t wait_set_client;
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size_t num_subscriptions_client;
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size_t num_guard_conditions_client;
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size_t num_timers_client;
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size_t num_clients_client;
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size_t num_services_client;
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bool is_goal_request_ready;
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bool is_cancel_request_ready;
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bool is_result_request_ready;
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bool is_feedback_ready;
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bool is_status_ready;
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bool is_goal_response_ready;
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bool is_cancel_response_ready;
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bool is_result_response_ready;
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}; // class TestActionCommunication
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TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_comm)
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@ -116,59 +191,20 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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size_t num_subscriptions = 0;
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size_t num_guard_conditions = 0;
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size_t num_timers = 0;
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size_t num_clients = 0;
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size_t num_services = 0;
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ret = rcl_action_server_wait_set_get_num_entities(
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&this->action_server,
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&num_subscriptions,
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&num_guard_conditions,
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&num_timers,
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&num_clients,
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&num_services);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_init(
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&wait_set,
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num_subscriptions, // number_of_subscriptions
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num_guard_conditions, // number_of_guard_conditions
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num_timers, // number_of_timers
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num_clients, // number_of_clients
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num_services, // number_of_services
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rcl_get_default_allocator());
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, NULL);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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bool is_goal_request_ready(false);
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bool is_cancel_request_ready(false);
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bool is_result_request_ready(false);
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ret = rcl_wait(&wait_set, 1000000);
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ret = rcl_wait(&this->wait_set_server, 1000000);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_server_wait_set_get_entities_ready(
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&wait_set,
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&this->wait_set_server,
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&this->action_server,
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&is_goal_request_ready,
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&is_cancel_request_ready,
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&is_result_request_ready);
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&this->is_goal_request_ready,
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&this->is_cancel_request_ready,
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&this->is_result_request_ready);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_fini(&wait_set);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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EXPECT_EQ(this->is_goal_request_ready, true) << rcl_get_error_string().str;
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// Take goal request with valid arguments
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rmw_request_id_t request_header;
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@ -193,68 +229,23 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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wait_set = rcl_get_zero_initialized_wait_set();
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num_subscriptions = 0;
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num_guard_conditions = 0;
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num_timers = 0;
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num_clients = 0;
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num_services = 0;
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ret = rcl_action_client_wait_set_get_num_entities(
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&this->action_client,
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&num_subscriptions,
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&num_guard_conditions,
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&num_timers,
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&num_clients,
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&num_services);
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ret = rcl_wait(&this->wait_set_client, 1000000);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_init(
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&wait_set,
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num_subscriptions, // number_of_subscriptions
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num_guard_conditions, // number_of_guard_conditions
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num_timers, // number_of_timers
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num_clients, // number_of_clients
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num_services, // number_of_services
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rcl_get_default_allocator());
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_wait_set_add_action_client(
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&wait_set, &this->action_client, NULL, NULL);
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ret = rcl_wait(&wait_set, 100000000);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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bool is_feedback_ready(false);
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bool is_status_ready(false);
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bool is_goal_response_ready(false);
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bool is_cancel_response_ready(false);
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bool is_result_response_ready(false);
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ret = rcl_action_client_wait_set_get_entities_ready(
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&wait_set,
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&this->wait_set_client,
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&this->action_client,
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&is_feedback_ready,
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&is_status_ready,
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&is_goal_response_ready,
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&is_cancel_response_ready,
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&is_result_response_ready);
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&this->is_feedback_ready,
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&this->is_status_ready,
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&this->is_goal_response_ready,
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&this->is_cancel_response_ready,
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&this->is_result_response_ready);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_fini(&wait_set);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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// Take goal response with valid arguments
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ret = rcl_action_take_goal_response(
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&this->action_client, &request_header, &incoming_goal_response);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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@ -275,8 +266,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
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}
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TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel_comm)
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{
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TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel_comm) {
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action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
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action_msgs__srv__CancelGoal_Request incoming_cancel_request;
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action_msgs__srv__CancelGoal_Response outgoing_cancel_response;
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@ -298,57 +288,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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size_t num_subscriptions = 0;
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size_t num_guard_conditions = 0;
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size_t num_timers = 0;
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size_t num_clients = 0;
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size_t num_services = 0;
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ret = rcl_action_server_wait_set_get_num_entities(
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&this->action_server,
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&num_subscriptions,
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&num_guard_conditions,
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&num_timers,
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&num_clients,
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&num_services);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_init(
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&wait_set,
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num_subscriptions, // number_of_subscriptions
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num_guard_conditions, // number_of_guard_conditions
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num_timers, // number_of_timers
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num_clients, // number_of_clients
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num_services, // number_of_services
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rcl_get_default_allocator());
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, NULL);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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bool is_goal_request_ready(false);
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bool is_cancel_request_ready(false);
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bool is_result_request_ready(false);
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ret = rcl_wait(&wait_set, 1000000);
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ret = rcl_wait(&this->wait_set_server, 1000000);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_server_wait_set_get_entities_ready(
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&wait_set,
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&this->wait_set_server,
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&this->action_server,
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&is_goal_request_ready,
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&is_cancel_request_ready,
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&is_result_request_ready);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_fini(&wait_set);
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&this->is_goal_request_ready,
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&this->is_cancel_request_ready,
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&this->is_result_request_ready);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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@ -387,63 +336,18 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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wait_set = rcl_get_zero_initialized_wait_set();
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num_subscriptions = 0;
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num_guard_conditions = 0;
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num_timers = 0;
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num_clients = 0;
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num_services = 0;
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ret = rcl_action_client_wait_set_get_num_entities(
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&this->action_client,
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&num_subscriptions,
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&num_guard_conditions,
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&num_timers,
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&num_clients,
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&num_services);
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ret = rcl_wait(&this->wait_set_client, 1000000);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_init(
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&wait_set,
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num_subscriptions, // number_of_subscriptions
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num_guard_conditions, // number_of_guard_conditions
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num_timers, // number_of_timers
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num_clients, // number_of_clients
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num_services, // number_of_services
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rcl_get_default_allocator());
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_action_wait_set_add_action_client(
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&wait_set, &this->action_client, NULL, NULL);
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ret = rcl_wait(&wait_set, 100000000);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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bool is_feedback_ready(false);
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bool is_status_ready(false);
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bool is_goal_response_ready(false);
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bool is_cancel_response_ready(false);
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bool is_result_response_ready(false);
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ret = rcl_action_client_wait_set_get_entities_ready(
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&wait_set,
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&this->wait_set_client,
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&this->action_client,
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&is_feedback_ready,
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&is_status_ready,
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&is_goal_response_ready,
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&is_cancel_response_ready,
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&is_result_response_ready);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_fini(&wait_set);
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&this->is_feedback_ready,
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&this->is_status_ready,
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&this->is_goal_response_ready,
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&this->is_cancel_response_ready,
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&this->is_result_response_ready);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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@ -494,49 +398,12 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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size_t num_subscriptions = 0;
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size_t num_guard_conditions = 0;
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size_t num_timers = 0;
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size_t num_clients = 0;
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size_t num_services = 0;
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ret = rcl_action_server_wait_set_get_num_entities(
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&this->action_server,
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&num_subscriptions,
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&num_guard_conditions,
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&num_timers,
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&num_clients,
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&num_services);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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rcl_reset_error();
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ret = rcl_wait_set_init(
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&wait_set,
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num_subscriptions, // number_of_subscriptions
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num_guard_conditions, // number_of_guard_conditions
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num_timers, // number_of_timers
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num_clients, // number_of_clients
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num_services, // number_of_services
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rcl_get_default_allocator());
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_action_wait_set_add_action_server(&wait_set, &this->action_server, NULL);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
bool is_goal_request_ready(false);
|
||||
bool is_cancel_request_ready(false);
|
||||
bool is_result_request_ready(false);
|
||||
|
||||
ret = rcl_wait(&wait_set, 1000000);
|
||||
ret = rcl_wait(&this->wait_set_server, 1000000);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_action_server_wait_set_get_entities_ready(
|
||||
&wait_set,
|
||||
&this->wait_set_server,
|
||||
&this->action_server,
|
||||
&is_goal_request_ready,
|
||||
&is_cancel_request_ready,
|
||||
|
|
@ -544,10 +411,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
|
|||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_wait_set_fini(&wait_set);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
// Take result request with valid arguments
|
||||
rmw_request_id_t request_header;
|
||||
ret = rcl_action_take_result_request(
|
||||
|
|
@ -576,41 +439,18 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
|
|||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
wait_set = rcl_get_zero_initialized_wait_set();
|
||||
ret = rcl_wait(&this->wait_set_client, 1000000);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
num_subscriptions = 0;
|
||||
num_guard_conditions = 0;
|
||||
num_timers = 0;
|
||||
num_clients = 0;
|
||||
num_services = 0;
|
||||
|
||||
ret = rcl_action_client_wait_set_get_num_entities(
|
||||
ret = rcl_action_client_wait_set_get_entities_ready(
|
||||
&this->wait_set_client,
|
||||
&this->action_client,
|
||||
&num_subscriptions,
|
||||
&num_guard_conditions,
|
||||
&num_timers,
|
||||
&num_clients,
|
||||
&num_services);
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_wait_set_init(
|
||||
&wait_set,
|
||||
num_subscriptions, // number_of_subscriptions
|
||||
num_guard_conditions, // number_of_guard_conditions
|
||||
num_timers, // number_of_timers
|
||||
num_clients, // number_of_clients
|
||||
num_services, // number_of_services
|
||||
rcl_get_default_allocator());
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_action_wait_set_add_action_client(
|
||||
&wait_set, &this->action_client, NULL, NULL);
|
||||
|
||||
ret = rcl_wait(&wait_set, 100000000);
|
||||
&this->is_feedback_ready,
|
||||
&this->is_status_ready,
|
||||
&this->is_goal_response_ready,
|
||||
&this->is_cancel_response_ready,
|
||||
&this->is_result_response_ready);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
|
|
@ -669,57 +509,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
|
|||
rcl_ret_t ret = rcl_action_get_goal_status_array(&this->action_server, &status_array);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
// Publish status with valid arguments (but empty 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();
|
||||
|
||||
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
|
||||
|
||||
size_t num_subscriptions = 0;
|
||||
size_t num_guard_conditions = 0;
|
||||
size_t num_timers = 0;
|
||||
size_t num_clients = 0;
|
||||
size_t num_services = 0;
|
||||
|
||||
ret = rcl_action_client_wait_set_get_num_entities(
|
||||
&this->action_client,
|
||||
&num_subscriptions,
|
||||
&num_guard_conditions,
|
||||
&num_timers,
|
||||
&num_clients,
|
||||
&num_services);
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_wait_set_init(
|
||||
&wait_set,
|
||||
num_subscriptions, // number_of_subscriptions
|
||||
num_guard_conditions, // number_of_guard_conditions
|
||||
num_timers, // number_of_timers
|
||||
num_clients, // number_of_clients
|
||||
num_services, // number_of_services
|
||||
rcl_get_default_allocator());
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_action_wait_set_add_action_client(
|
||||
&wait_set, &this->action_client, NULL, NULL);
|
||||
|
||||
ret = rcl_wait(&wait_set, 100000000);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
// Take status with valid arguments (empty 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();
|
||||
|
||||
ret = rcl_action_goal_status_array_fini(&status_array);
|
||||
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
|
||||
// Add a goal before publishing the status array
|
||||
rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
|
||||
rcl_action_goal_handle_t * goal_handle;
|
||||
|
|
@ -735,41 +524,18 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
|
|||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
wait_set = rcl_get_zero_initialized_wait_set();
|
||||
ret = rcl_wait(&this->wait_set_client, 1000000);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
num_subscriptions = 0;
|
||||
num_guard_conditions = 0;
|
||||
num_timers = 0;
|
||||
num_clients = 0;
|
||||
num_services = 0;
|
||||
|
||||
ret = rcl_action_client_wait_set_get_num_entities(
|
||||
ret = rcl_action_client_wait_set_get_entities_ready(
|
||||
&this->wait_set_client,
|
||||
&this->action_client,
|
||||
&num_subscriptions,
|
||||
&num_guard_conditions,
|
||||
&num_timers,
|
||||
&num_clients,
|
||||
&num_services);
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_wait_set_init(
|
||||
&wait_set,
|
||||
num_subscriptions, // number_of_subscriptions
|
||||
num_guard_conditions, // number_of_guard_conditions
|
||||
num_timers, // number_of_timers
|
||||
num_clients, // number_of_clients
|
||||
num_services, // number_of_services
|
||||
rcl_get_default_allocator());
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_action_wait_set_add_action_client(
|
||||
&wait_set, &this->action_client, NULL, NULL);
|
||||
|
||||
ret = rcl_wait(&wait_set, 100000000);
|
||||
&this->is_feedback_ready,
|
||||
&this->is_status_ready,
|
||||
&this->is_goal_response_ready,
|
||||
&this->is_cancel_response_ready,
|
||||
&this->is_result_response_ready);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
|
|
@ -817,41 +583,18 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
|
|||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
|
||||
ret = rcl_wait(&this->wait_set_client, 1000000);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
size_t num_subscriptions = 0;
|
||||
size_t num_guard_conditions = 0;
|
||||
size_t num_timers = 0;
|
||||
size_t num_clients = 0;
|
||||
size_t num_services = 0;
|
||||
|
||||
ret = rcl_action_client_wait_set_get_num_entities(
|
||||
ret = rcl_action_client_wait_set_get_entities_ready(
|
||||
&this->wait_set_client,
|
||||
&this->action_client,
|
||||
&num_subscriptions,
|
||||
&num_guard_conditions,
|
||||
&num_timers,
|
||||
&num_clients,
|
||||
&num_services);
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_wait_set_init(
|
||||
&wait_set,
|
||||
num_subscriptions, // number_of_subscriptions
|
||||
num_guard_conditions, // number_of_guard_conditions
|
||||
num_timers, // number_of_timers
|
||||
num_clients, // number_of_clients
|
||||
num_services, // number_of_services
|
||||
rcl_get_default_allocator());
|
||||
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
ret = rcl_action_wait_set_add_action_client(
|
||||
&wait_set, &this->action_client, NULL, NULL);
|
||||
|
||||
ret = rcl_wait(&wait_set, 100000000);
|
||||
&this->is_feedback_ready,
|
||||
&this->is_status_ready,
|
||||
&this->is_goal_response_ready,
|
||||
&this->is_cancel_response_ready,
|
||||
&this->is_result_response_ready);
|
||||
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
||||
rcl_reset_error();
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue