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[rcl action] Exposes sequence numbers for all requests and responses. (#339)

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This commit is contained in:
Michel Hidalgo 2018-11-21 21:50:03 -03:00 • committed by Shane Loretz
parent f39ac3cbe7
commit f531f682ea
5 changed files with 130 additions and 58 deletions
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84
rcl_action/test/rcl_action/test_action_communication.cpp
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@ -89,24 +89,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_take_goal_re
test_msgs__action__Fibonacci_Goal_Request__init(&goal_request);
// Take request with null action server
rcl_ret_t ret = rcl_action_take_goal_request(nullptr, &goal_request);
rmw_request_id_t request_header;
rcl_ret_t ret = rcl_action_take_goal_request(nullptr, &request_header, &goal_request);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Take request with null header
ret = rcl_action_take_goal_request(&this->action_server, nullptr, &goal_request);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Take request with null message
ret = rcl_action_take_goal_request(&this->action_server, nullptr);
ret = rcl_action_take_goal_request(&this->action_server, &request_header, nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Take request with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_take_goal_request(&invalid_action_server, &goal_request);
ret = rcl_action_take_goal_request(&invalid_action_server, &request_header, &goal_request);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Take with valid arguments
// TODO(jacobperron): Send a request from a client
// ret = rcl_action_take_goal_request(&this->action_server, &goal_request);
// ret = rcl_action_take_goal_request(&this->action_server, &request_header, &goal_request);
// EXPECT_EQ(ret, RCL_RET_OK);
test_msgs__action__Fibonacci_Goal_Request__fini(&goal_request);
@ -118,24 +124,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_send_goal_re
test_msgs__action__Fibonacci_Goal_Response__init(&goal_response);
// Send response with null action server
rcl_ret_t ret = rcl_action_send_goal_response(nullptr, &goal_response);
rmw_request_id_t response_header;
rcl_ret_t ret = rcl_action_send_goal_response(nullptr, &response_header, &goal_response);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Send response with null header
ret = rcl_action_send_goal_response(&this->action_server, nullptr, &goal_response);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Send response with null message
ret = rcl_action_send_goal_response(&this->action_server, nullptr);
ret = rcl_action_send_goal_response(&this->action_server, &response_header, nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Send response with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_send_goal_response(&invalid_action_server, &goal_response);
ret = rcl_action_send_goal_response(&invalid_action_server, &response_header, &goal_response);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Send with valid arguments
// TODO(jacobperron): Check with client on receiving end
ret = rcl_action_send_goal_response(&this->action_server, &goal_response);
ret = rcl_action_send_goal_response(&this->action_server, &response_header, &goal_response);
EXPECT_EQ(ret, RCL_RET_OK);
test_msgs__action__Fibonacci_Goal_Response__fini(&goal_response);
@ -147,24 +159,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_take_cancel_
action_msgs__srv__CancelGoal_Request__init(&cancel_request);
// Take request with null action server
rcl_ret_t ret = rcl_action_take_cancel_request(nullptr, &cancel_request);
rmw_request_id_t request_header;
rcl_ret_t ret = rcl_action_take_cancel_request(nullptr, &request_header, &cancel_request);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Take request with null header
ret = rcl_action_take_cancel_request(&this->action_server, nullptr, &cancel_request);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Take request with null message
ret = rcl_action_take_cancel_request(&this->action_server, nullptr);
ret = rcl_action_take_cancel_request(&this->action_server, &request_header, nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Take request with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_take_cancel_request(&invalid_action_server, &cancel_request);
ret = rcl_action_take_cancel_request(&invalid_action_server, &request_header, &cancel_request);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Take with valid arguments
// TODO(jacobperron): Send a request from a client
// ret = rcl_action_take_cancel_request(&this->action_server, &cancel_request);
// ret = rcl_action_take_cancel_request(&this->action_server, &request_header, &cancel_request);
// EXPECT_EQ(ret, RCL_RET_OK);
action_msgs__srv__CancelGoal_Request__fini(&cancel_request);
@ -176,24 +194,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_send_cancel_
action_msgs__srv__CancelGoal_Response__init(&cancel_response);
// Send response with null action server
rcl_ret_t ret = rcl_action_send_cancel_response(nullptr, &cancel_response);
rmw_request_id_t response_header;
rcl_ret_t ret = rcl_action_send_cancel_response(nullptr, &response_header, &cancel_response);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Send response with null header
ret = rcl_action_send_cancel_response(&this->action_server, nullptr, &cancel_response);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Send response with null message
ret = rcl_action_send_cancel_response(&this->action_server, nullptr);
ret = rcl_action_send_cancel_response(&this->action_server, &response_header, nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Send response with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_send_cancel_response(&invalid_action_server, &cancel_response);
ret = rcl_action_send_cancel_response(&invalid_action_server, &response_header, &cancel_response);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Send with valid arguments
// TODO(jacobperron): Check with client on receiving end
ret = rcl_action_send_cancel_response(&this->action_server, &cancel_response);
ret = rcl_action_send_cancel_response(&this->action_server, &response_header, &cancel_response);
EXPECT_EQ(ret, RCL_RET_OK);
action_msgs__srv__CancelGoal_Response__fini(&cancel_response);
@ -205,24 +229,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_take_result_
test_msgs__action__Fibonacci_Result_Request__init(&result_request);
// Take request with null action server
rcl_ret_t ret = rcl_action_take_result_request(nullptr, &result_request);
rmw_request_id_t request_header;
rcl_ret_t ret = rcl_action_take_result_request(nullptr, &request_header, &result_request);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Take request with null header
ret = rcl_action_take_result_request(&this->action_server, nullptr, &result_request);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Take request with null message
ret = rcl_action_take_result_request(&this->action_server, nullptr);
ret = rcl_action_take_result_request(&this->action_server, &request_header, nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Take request with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_take_result_request(&invalid_action_server, &result_request);
ret = rcl_action_take_result_request(&invalid_action_server, &request_header, &result_request);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Take with valid arguments
// TODO(jacobperron): Send a request from a client
// ret = rcl_action_take_result_request(&this->action_server, &result_request);
// ret = rcl_action_take_result_request(&this->action_server, &request_header, &result_request);
// EXPECT_EQ(ret, RCL_RET_OK);
test_msgs__action__Fibonacci_Result_Request__fini(&result_request);
@ -234,24 +264,30 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_send_result_
test_msgs__action__Fibonacci_Result_Response__init(&result_response);
// Send response with null action server
rcl_ret_t ret = rcl_action_send_result_response(nullptr, &result_response);
rmw_request_id_t response_header;
rcl_ret_t ret = rcl_action_send_result_response(nullptr, &response_header, &result_response);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Send response with null header
ret = rcl_action_send_result_response(&this->action_server, nullptr, &result_response);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Send response with null message
ret = rcl_action_send_result_response(&this->action_server, nullptr);
ret = rcl_action_send_result_response(&this->action_server, &response_header, nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
rcl_reset_error();
// Send response with invalid action server
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
ret = rcl_action_send_result_response(&invalid_action_server, &result_response);
ret = rcl_action_send_result_response(&invalid_action_server, &response_header, &result_response);
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID);
rcl_reset_error();
// Send with valid arguments
// TODO(jacobperron): Check with client on receiving end
ret = rcl_action_send_result_response(&this->action_server, &result_response);
ret = rcl_action_send_result_response(&this->action_server, &response_header, &result_response);
EXPECT_EQ(ret, RCL_RET_OK);
test_msgs__action__Fibonacci_Result_Response__fini(&result_response);