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Merge pull request #331 from ros2/hidmic/complete-action-tests

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Completes integration tests for action client/server
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Alexis Pojomovsky 2018-11-29 20:30:33 -03:00 • committed by GitHub
commit dfaa412bbf
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2 changed files with 914 additions and 168 deletions
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4
rcl_action/src/rcl_action/action_client.c
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@ -243,7 +243,7 @@ rcl_action_client_get_default_options(void)
#define SEND_SERVICE_REQUEST(Type, request, sequence_number) \ #define SEND_SERVICE_REQUEST(Type, request, sequence_number) \
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action " #Type " request"); \ RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending action " #Type " request"); \
if (!rcl_action_client_is_valid(action_client)) { \ if (!rcl_action_client_is_valid(action_client)) { \
return RCL_RET_ACTION_SERVER_INVALID; /* error already set */ \ return RCL_RET_ACTION_CLIENT_INVALID; /* error already set */ \
} \ } \
RCL_CHECK_ARGUMENT_FOR_NULL(request, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(request, RCL_RET_INVALID_ARGUMENT); \
RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT); \
@ -259,7 +259,7 @@ rcl_action_client_get_default_options(void)
#define TAKE_SERVICE_RESPONSE(Type, response_header, response) \ #define TAKE_SERVICE_RESPONSE(Type, response_header, response) \
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type " response"); \ RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Taking action " #Type " response"); \
if (!rcl_action_client_is_valid(action_client)) { \ if (!rcl_action_client_is_valid(action_client)) { \
return RCL_RET_ACTION_SERVER_INVALID; /* error already set */ \ return RCL_RET_ACTION_CLIENT_INVALID; /* error already set */ \
} \ } \
RCL_CHECK_ARGUMENT_FOR_NULL(response_header, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(response_header, RCL_RET_INVALID_ARGUMENT); \
RCL_CHECK_ARGUMENT_FOR_NULL(response, RCL_RET_INVALID_ARGUMENT); \ RCL_CHECK_ARGUMENT_FOR_NULL(response, RCL_RET_INVALID_ARGUMENT); \

1078
rcl_action/test/rcl_action/test_action_communication.cpp
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