1084 lines
46 KiB
C++
1084 lines
46 KiB
C++
// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include "rcl_action/action_client.h"
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#include "rcl_action/action_server.h"
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#include "rcl_action/wait.h"
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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#include "rosidl_generator_c/primitives_sequence_functions.h"
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#include "test_msgs/action/fibonacci.h"
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#ifdef RMW_IMPLEMENTATION
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# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
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# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
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#else
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# define CLASSNAME(NAME, SUFFIX) NAME
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#endif
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class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing::Test
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{
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protected:
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void SetUp() override
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{
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_ret_t ret;
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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ret = rcl_init_options_init(&init_options, allocator);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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context = rcl_get_zero_initialized_context();
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ret = rcl_init(0, nullptr, &init_options, &context);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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this->node = rcl_get_zero_initialized_node();
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rcl_node_options_t node_options = rcl_node_get_default_options();
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ret = rcl_node_init(&this->node, "test_action_communication_node", "", &context, &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_clock_init(RCL_STEADY_TIME, &this->clock, &allocator);
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const rosidl_action_type_support_t * ts = ROSIDL_GET_ACTION_TYPE_SUPPORT(
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test_msgs, Fibonacci);
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const char * action_name = "test_action_commmunication_name";
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const rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
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this->action_server = rcl_action_get_zero_initialized_server();
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ret = rcl_action_server_init(
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&this->action_server, &this->node, &this->clock, ts, action_name, &server_options);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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const rcl_action_client_options_t client_options = rcl_action_client_get_default_options();
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this->action_client = rcl_action_get_zero_initialized_client();
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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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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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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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this->wait_set = 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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&num_subscriptions_server,
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&num_guard_conditions_server,
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&num_timers_server,
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&num_clients_server,
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&num_services_server);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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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_client,
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&num_guard_conditions_client,
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&num_timers_client,
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&num_clients_client,
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&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,
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num_subscriptions_server + num_subscriptions_client,
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num_guard_conditions_server + num_guard_conditions_client,
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num_timers_server + num_timers_client,
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num_clients_server + num_clients_client,
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num_services_server + 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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}
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void TearDown() override
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{
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// Finalize
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rcl_ret_t ret = rcl_action_server_fini(&this->action_server, &this->node);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_clock_fini(&this->clock);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_client_fini(&this->action_client, &this->node);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_node_fini(&this->node);
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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);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_shutdown(&context);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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}
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void init_test_uuid0(uint8_t * uuid)
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{
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for (uint8_t i = 0; i < UUID_SIZE; ++i) {
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uuid[i] = i;
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}
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}
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void init_test_uuid1(uint8_t * uuid)
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{
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for (uint8_t i = 0; i < UUID_SIZE; ++i) {
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uuid[i] = 15 - i;
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}
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}
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rcl_action_client_t action_client;
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rcl_action_server_t action_server;
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rcl_context_t context;
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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;
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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_goal_expired;
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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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{
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test_msgs__action__Fibonacci_Goal_Request outgoing_goal_request;
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test_msgs__action__Fibonacci_Goal_Request incoming_goal_request;
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test_msgs__action__Fibonacci_Goal_Response outgoing_goal_response;
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test_msgs__action__Fibonacci_Goal_Response incoming_goal_response;
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test_msgs__action__Fibonacci_Goal_Request__init(&outgoing_goal_request);
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test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request);
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test_msgs__action__Fibonacci_Goal_Response__init(&outgoing_goal_response);
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test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response);
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// Initialize goal request
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init_test_uuid0(outgoing_goal_request.action_goal_id.uuid);
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outgoing_goal_request.order = 10;
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// Send goal request with valid arguments
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int64_t sequence_number;
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rcl_ret_t ret = rcl_action_send_goal_request(
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&this->action_client, &outgoing_goal_request, &sequence_number);
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EXPECT_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, &this->action_server, NULL);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_server_wait_set_get_entities_ready(
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&this->wait_set,
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&this->action_server,
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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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&this->is_goal_expired);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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EXPECT_TRUE(this->is_goal_request_ready) << rcl_get_error_string().str;
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EXPECT_FALSE(this->is_cancel_request_ready) << rcl_get_error_string().str;
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EXPECT_FALSE(this->is_result_request_ready) << 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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ret = rcl_action_take_goal_request(&this->action_server, &request_header, &incoming_goal_request);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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// Check that the goal request was received correctly
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EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order);
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EXPECT_TRUE(uuidcmp(
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outgoing_goal_request.action_goal_id.uuid,
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incoming_goal_request.action_goal_id.uuid));
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// Initialize goal response
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outgoing_goal_response.accepted = true;
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outgoing_goal_response.stamp.sec = 123;
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outgoing_goal_response.stamp.nanosec = 456789u;
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// Send goal response with valid arguments
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ret = rcl_action_send_goal_response(
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&this->action_server, &request_header, &outgoing_goal_response);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait_set_clear(&this->wait_set);
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ret = rcl_action_wait_set_add_action_client(
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&this->wait_set, &this->action_client, NULL, NULL);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_client_wait_set_get_entities_ready(
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&this->wait_set,
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&this->action_client,
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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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EXPECT_TRUE(this->is_goal_response_ready);
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EXPECT_FALSE(this->is_cancel_response_ready);
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EXPECT_FALSE(this->is_feedback_ready);
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EXPECT_FALSE(this->is_status_ready);
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EXPECT_FALSE(this->is_result_response_ready);
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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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// Check that the goal response was received correctly
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EXPECT_EQ(outgoing_goal_response.accepted, incoming_goal_response.accepted);
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EXPECT_EQ(outgoing_goal_response.stamp.sec, incoming_goal_response.stamp.sec);
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EXPECT_EQ(outgoing_goal_response.stamp.nanosec, incoming_goal_response.stamp.nanosec);
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test_msgs__action__Fibonacci_Goal_Request__fini(&outgoing_goal_request);
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test_msgs__action__Fibonacci_Goal_Request__fini(&incoming_goal_request);
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test_msgs__action__Fibonacci_Goal_Response__fini(&incoming_goal_response);
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test_msgs__action__Fibonacci_Goal_Response__fini(&outgoing_goal_response);
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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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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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action_msgs__srv__CancelGoal_Response incoming_cancel_response;
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action_msgs__srv__CancelGoal_Request__init(&outgoing_cancel_request);
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action_msgs__srv__CancelGoal_Request__init(&incoming_cancel_request);
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action_msgs__srv__CancelGoal_Response__init(&outgoing_cancel_response);
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action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response);
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// Initialize cancel request
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init_test_uuid0(outgoing_cancel_request.goal_info.goal_id.uuid);
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outgoing_cancel_request.goal_info.stamp.sec = 321;
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outgoing_cancel_request.goal_info.stamp.nanosec = 987654u;
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// Send cancel request with valid arguments
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int64_t sequence_number = 1324;
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rcl_ret_t ret = rcl_action_send_cancel_request(
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&this->action_client, &outgoing_cancel_request, &sequence_number);
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EXPECT_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, &this->action_server, NULL);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_server_wait_set_get_entities_ready(
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&this->wait_set,
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&this->action_server,
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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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&this->is_goal_expired);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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EXPECT_TRUE(this->is_cancel_request_ready);
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EXPECT_FALSE(this->is_goal_request_ready);
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EXPECT_FALSE(this->is_result_request_ready);
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// Take cancel request with valid arguments
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rmw_request_id_t request_header;
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ret = rcl_action_take_cancel_request(
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&this->action_server, &request_header, &incoming_cancel_request);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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// Check that the cancel request was received correctly
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EXPECT_TRUE(uuidcmp(
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outgoing_cancel_request.goal_info.goal_id.uuid,
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incoming_cancel_request.goal_info.goal_id.uuid));
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EXPECT_EQ(
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outgoing_cancel_request.goal_info.stamp.sec,
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incoming_cancel_request.goal_info.stamp.sec);
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EXPECT_EQ(
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outgoing_cancel_request.goal_info.stamp.nanosec,
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incoming_cancel_request.goal_info.stamp.nanosec);
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// Initialize cancel request
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ASSERT_TRUE(action_msgs__msg__GoalInfo__Sequence__init(
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&outgoing_cancel_response.goals_canceling, 2));
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init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].goal_id.uuid);
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outgoing_cancel_response.goals_canceling.data[0].stamp.sec = 102;
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outgoing_cancel_response.goals_canceling.data[0].stamp.nanosec = 9468u;
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init_test_uuid1(outgoing_cancel_response.goals_canceling.data[1].goal_id.uuid);
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outgoing_cancel_response.goals_canceling.data[1].stamp.sec = 867;
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outgoing_cancel_response.goals_canceling.data[1].stamp.nanosec = 6845u;
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// Send cancel response with valid arguments
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// rmw_request_id_t response_header;
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ret = rcl_action_send_cancel_response(
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&this->action_server, &request_header, &outgoing_cancel_response);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait_set_clear(&this->wait_set);
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ret = rcl_action_wait_set_add_action_client(
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&this->wait_set, &this->action_client, NULL, NULL);
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ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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ret = rcl_action_client_wait_set_get_entities_ready(
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&this->wait_set,
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&this->action_client,
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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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EXPECT_TRUE(this->is_cancel_response_ready);
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EXPECT_FALSE(this->is_feedback_ready);
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EXPECT_FALSE(this->is_status_ready);
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EXPECT_FALSE(this->is_goal_response_ready);
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EXPECT_FALSE(this->is_result_response_ready);
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// Take cancel response with valid arguments
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ret = rcl_action_take_cancel_response(
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&this->action_client, &request_header, &incoming_cancel_response);
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EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
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// Check that the cancel response was received correctly
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ASSERT_EQ(
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outgoing_cancel_response.goals_canceling.size,
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incoming_cancel_response.goals_canceling.size);
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for (size_t i = 0; i < outgoing_cancel_response.goals_canceling.size; ++i) {
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const action_msgs__msg__GoalInfo * outgoing_goal_info =
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&outgoing_cancel_response.goals_canceling.data[i];
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const action_msgs__msg__GoalInfo * incoming_goal_info =
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&incoming_cancel_response.goals_canceling.data[i];
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EXPECT_TRUE(uuidcmp(outgoing_goal_info->goal_id.uuid, incoming_goal_info->goal_id.uuid));
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EXPECT_EQ(outgoing_goal_info->stamp.sec, incoming_goal_info->stamp.sec);
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EXPECT_EQ(outgoing_goal_info->stamp.nanosec, incoming_goal_info->stamp.nanosec);
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}
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action_msgs__srv__CancelGoal_Request__fini(&incoming_cancel_request);
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action_msgs__srv__CancelGoal_Request__fini(&outgoing_cancel_request);
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action_msgs__srv__CancelGoal_Response__fini(&incoming_cancel_response);
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action_msgs__srv__CancelGoal_Response__fini(&outgoing_cancel_response);
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}
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TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result_comm)
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{
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test_msgs__action__Fibonacci_Result_Request outgoing_result_request;
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test_msgs__action__Fibonacci_Result_Request incoming_result_request;
|
|
test_msgs__action__Fibonacci_Result_Response outgoing_result_response;
|
|
test_msgs__action__Fibonacci_Result_Response incoming_result_response;
|
|
test_msgs__action__Fibonacci_Result_Request__init(&outgoing_result_request);
|
|
test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request);
|
|
test_msgs__action__Fibonacci_Result_Response__init(&outgoing_result_response);
|
|
test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response);
|
|
|
|
// Initialize result request
|
|
init_test_uuid0(outgoing_result_request.action_goal_id.uuid);
|
|
|
|
// Send result request with valid arguments
|
|
int64_t sequence_number;
|
|
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;
|
|
|
|
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;
|
|
|
|
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
|
|
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
ret = rcl_action_server_wait_set_get_entities_ready(
|
|
&this->wait_set,
|
|
&this->action_server,
|
|
&this->is_goal_request_ready,
|
|
&this->is_cancel_request_ready,
|
|
&this->is_result_request_ready,
|
|
&this->is_goal_expired);
|
|
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
EXPECT_TRUE(this->is_result_request_ready);
|
|
EXPECT_FALSE(this->is_cancel_request_ready);
|
|
EXPECT_FALSE(this->is_goal_request_ready);
|
|
|
|
// Take result request with valid arguments
|
|
rmw_request_id_t request_header;
|
|
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;
|
|
|
|
// Check that the result request was received correctly
|
|
EXPECT_TRUE(uuidcmp(
|
|
outgoing_result_request.action_goal_id.uuid,
|
|
incoming_result_request.action_goal_id.uuid));
|
|
|
|
// Initialize result response
|
|
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
|
|
&outgoing_result_response.sequence, 4));
|
|
outgoing_result_response.sequence.data[0] = 0;
|
|
outgoing_result_response.sequence.data[1] = 1;
|
|
outgoing_result_response.sequence.data[2] = 2;
|
|
outgoing_result_response.sequence.data[3] = 6;
|
|
outgoing_result_response.action_status =
|
|
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
|
|
|
|
// Send result response with valid arguments
|
|
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;
|
|
|
|
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;
|
|
|
|
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
|
|
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
ret = rcl_action_client_wait_set_get_entities_ready(
|
|
&this->wait_set,
|
|
&this->action_client,
|
|
&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;
|
|
|
|
EXPECT_TRUE(this->is_result_response_ready);
|
|
EXPECT_FALSE(this->is_cancel_response_ready);
|
|
EXPECT_FALSE(this->is_feedback_ready);
|
|
EXPECT_FALSE(this->is_status_ready);
|
|
EXPECT_FALSE(this->is_goal_response_ready);
|
|
|
|
// Take result response with valid arguments
|
|
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;
|
|
|
|
// Check that the result response was received correctly
|
|
EXPECT_EQ(outgoing_result_response.action_status, incoming_result_response.action_status);
|
|
ASSERT_EQ(outgoing_result_response.sequence.size, incoming_result_response.sequence.size);
|
|
EXPECT_TRUE(!memcmp(
|
|
outgoing_result_response.sequence.data,
|
|
incoming_result_response.sequence.data,
|
|
outgoing_result_response.sequence.size));
|
|
|
|
test_msgs__action__Fibonacci_Result_Request__fini(&incoming_result_request);
|
|
test_msgs__action__Fibonacci_Result_Request__fini(&outgoing_result_request);
|
|
test_msgs__action__Fibonacci_Result_Response__fini(&incoming_result_response);
|
|
test_msgs__action__Fibonacci_Result_Response__fini(&outgoing_result_response);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
|
|
{
|
|
action_msgs__msg__GoalStatusArray incoming_status_array;
|
|
action_msgs__msg__GoalStatusArray__init(&incoming_status_array);
|
|
|
|
// Using rcl_action_goal_status_array_t in lieu of a message instance works
|
|
// because these tests make use of C type support
|
|
rcl_action_goal_status_array_t status_array =
|
|
rcl_action_get_zero_initialized_goal_status_array();
|
|
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;
|
|
|
|
// 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;
|
|
goal_handle = rcl_action_accept_new_goal(&this->action_server, &goal_info);
|
|
ASSERT_NE(goal_handle, nullptr) << rcl_get_error_string().str;
|
|
|
|
ret = rcl_action_get_goal_status_array(&this->action_server, &status_array);
|
|
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
// 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;
|
|
|
|
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;
|
|
|
|
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
|
|
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
ret = rcl_action_client_wait_set_get_entities_ready(
|
|
&this->wait_set,
|
|
&this->action_client,
|
|
&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;
|
|
|
|
EXPECT_TRUE(this->is_status_ready);
|
|
EXPECT_FALSE(this->is_result_response_ready);
|
|
EXPECT_FALSE(this->is_cancel_response_ready);
|
|
EXPECT_FALSE(this->is_feedback_ready);
|
|
EXPECT_FALSE(this->is_goal_response_ready);
|
|
|
|
// 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;
|
|
|
|
// Check that status was received correctly
|
|
ASSERT_EQ(status_array.msg.status_list.size, incoming_status_array.status_list.size);
|
|
for (size_t i = 0; i < status_array.msg.status_list.size; ++i) {
|
|
const action_msgs__msg__GoalStatus * outgoing_status =
|
|
&status_array.msg.status_list.data[i];
|
|
const action_msgs__msg__GoalStatus * incoming_status =
|
|
&incoming_status_array.status_list.data[i];
|
|
EXPECT_TRUE(
|
|
uuidcmp(outgoing_status->goal_info.goal_id.uuid, incoming_status->goal_info.goal_id.uuid));
|
|
EXPECT_EQ(outgoing_status->goal_info.stamp.sec, incoming_status->goal_info.stamp.sec);
|
|
EXPECT_EQ(outgoing_status->goal_info.stamp.nanosec, incoming_status->goal_info.stamp.nanosec);
|
|
EXPECT_EQ(outgoing_status->status, incoming_status->status);
|
|
}
|
|
|
|
ret = rcl_action_goal_status_array_fini(&status_array);
|
|
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
|
|
EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(goal_handle));
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
|
|
{
|
|
test_msgs__action__Fibonacci_Feedback outgoing_feedback;
|
|
test_msgs__action__Fibonacci_Feedback incoming_feedback;
|
|
test_msgs__action__Fibonacci_Feedback__init(&outgoing_feedback);
|
|
test_msgs__action__Fibonacci_Feedback__init(&incoming_feedback);
|
|
|
|
// Initialize feedback
|
|
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
|
|
&outgoing_feedback.sequence, 3));
|
|
outgoing_feedback.sequence.data[0] = 0;
|
|
outgoing_feedback.sequence.data[1] = 1;
|
|
outgoing_feedback.sequence.data[2] = 2;
|
|
init_test_uuid0(outgoing_feedback.action_goal_id.uuid);
|
|
|
|
// 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;
|
|
|
|
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;
|
|
|
|
ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
|
|
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
|
|
|
|
ret = rcl_action_client_wait_set_get_entities_ready(
|
|
&this->wait_set,
|
|
&this->action_client,
|
|
&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;
|
|
|
|
EXPECT_TRUE(this->is_feedback_ready);
|
|
EXPECT_FALSE(this->is_status_ready);
|
|
EXPECT_FALSE(this->is_result_response_ready);
|
|
EXPECT_FALSE(this->is_cancel_response_ready);
|
|
EXPECT_FALSE(this->is_goal_response_ready);
|
|
|
|
// 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;
|
|
|
|
// Check that feedback was received correctly
|
|
EXPECT_TRUE(uuidcmp(
|
|
outgoing_feedback.action_goal_id.uuid,
|
|
incoming_feedback.action_goal_id.uuid));
|
|
ASSERT_EQ(outgoing_feedback.sequence.size, incoming_feedback.sequence.size);
|
|
EXPECT_TRUE(!memcmp(
|
|
outgoing_feedback.sequence.data,
|
|
incoming_feedback.sequence.data,
|
|
outgoing_feedback.sequence.size));
|
|
|
|
test_msgs__action__Fibonacci_Feedback__fini(&incoming_feedback);
|
|
test_msgs__action__Fibonacci_Feedback__fini(&outgoing_feedback);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
|
|
{
|
|
test_msgs__action__Fibonacci_Goal_Request outgoing_goal_request;
|
|
test_msgs__action__Fibonacci_Goal_Request incoming_goal_request;
|
|
test_msgs__action__Fibonacci_Goal_Request__init(&outgoing_goal_request);
|
|
test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request);
|
|
|
|
// Initialize goal request
|
|
init_test_uuid0(outgoing_goal_request.action_goal_id.uuid);
|
|
outgoing_goal_request.order = 10;
|
|
int64_t sequence_number = 1234;
|
|
rcl_ret_t ret = 0;
|
|
|
|
// Send goal request with null action client
|
|
ret = rcl_action_send_goal_request(nullptr, &outgoing_goal_request, &sequence_number);
|
|
ASSERT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID);
|
|
rcl_reset_error();
|
|
|
|
// Send goal request with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_send_goal_request(
|
|
&invalid_action_client, &outgoing_goal_request, &sequence_number);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID);
|
|
rcl_reset_error();
|
|
|
|
// Send goal request with null message
|
|
ret = rcl_action_send_goal_request(&this->action_client, nullptr, &sequence_number);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take goal request with null action server
|
|
rmw_request_id_t request_header;
|
|
ret = rcl_action_take_goal_request(nullptr, &request_header, &incoming_goal_request);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take goal request with null header
|
|
ret = rcl_action_take_goal_request(&this->action_server, nullptr, &incoming_goal_request);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
|
|
rcl_reset_error();
|
|
|
|
// Take goal request with null message
|
|
ret = rcl_action_take_goal_request(&this->action_server, &request_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take goal 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, &request_header, &incoming_goal_request);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
test_msgs__action__Fibonacci_Goal_Request__fini(&outgoing_goal_request);
|
|
test_msgs__action__Fibonacci_Goal_Request__fini(&incoming_goal_request);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_response_opts)
|
|
{
|
|
test_msgs__action__Fibonacci_Goal_Response outgoing_goal_response;
|
|
test_msgs__action__Fibonacci_Goal_Response incoming_goal_response;
|
|
test_msgs__action__Fibonacci_Goal_Response__init(&outgoing_goal_response);
|
|
test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response);
|
|
|
|
// Initialize goal response
|
|
outgoing_goal_response.accepted = true;
|
|
outgoing_goal_response.stamp.sec = 123;
|
|
outgoing_goal_response.stamp.nanosec = 456789u;
|
|
|
|
// Send goal response with null action server
|
|
rmw_request_id_t response_header;
|
|
rcl_ret_t ret = rcl_action_send_goal_response(nullptr, &response_header, &outgoing_goal_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send goal response with null header
|
|
ret = rcl_action_send_goal_response(&this->action_server, nullptr, &outgoing_goal_response);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
|
|
rcl_reset_error();
|
|
|
|
// Send goal response with null message
|
|
ret = rcl_action_send_goal_response(&this->action_server, &response_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send goal 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, &response_header, &outgoing_goal_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take goal response with null action client
|
|
ret = rcl_action_take_goal_response(nullptr, &response_header, &incoming_goal_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID);
|
|
rcl_reset_error();
|
|
|
|
// Take goal response with null header
|
|
ret = rcl_action_take_goal_response(&this->action_client, nullptr, &incoming_goal_response);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
|
|
rcl_reset_error();
|
|
|
|
// Take goal response with null message
|
|
ret = rcl_action_take_goal_response(&this->action_client, &response_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
|
|
rcl_reset_error();
|
|
|
|
// Take goal response with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_take_goal_response(
|
|
&invalid_action_client, &response_header, &incoming_goal_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
test_msgs__action__Fibonacci_Goal_Response__fini(&incoming_goal_response);
|
|
test_msgs__action__Fibonacci_Goal_Response__fini(&outgoing_goal_response);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_request_opts)
|
|
{
|
|
action_msgs__srv__CancelGoal_Request outgoing_cancel_request;
|
|
action_msgs__srv__CancelGoal_Request incoming_cancel_request;
|
|
action_msgs__srv__CancelGoal_Request__init(&outgoing_cancel_request);
|
|
action_msgs__srv__CancelGoal_Request__init(&incoming_cancel_request);
|
|
|
|
// Initialize cancel request
|
|
init_test_uuid0(outgoing_cancel_request.goal_info.goal_id.uuid);
|
|
outgoing_cancel_request.goal_info.stamp.sec = 321;
|
|
outgoing_cancel_request.goal_info.stamp.nanosec = 987654u;
|
|
|
|
// Send cancel request with null action client
|
|
int64_t sequence_number = 1324;
|
|
rcl_ret_t ret = rcl_action_send_cancel_request(
|
|
nullptr, &outgoing_cancel_request, &sequence_number);
|
|
ASSERT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send cancel request with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_send_cancel_request(
|
|
&invalid_action_client, &outgoing_cancel_request, &sequence_number);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send cancel request with null message
|
|
ret = rcl_action_send_cancel_request(&this->action_client, nullptr, &sequence_number);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take cancel request with null action server
|
|
rmw_request_id_t request_header;
|
|
ret = rcl_action_take_cancel_request(nullptr, &request_header, &incoming_cancel_request);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take cancel request with null header
|
|
ret = rcl_action_take_cancel_request(&this->action_server, nullptr, &incoming_cancel_request);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
|
|
rcl_reset_error();
|
|
|
|
// Take cancel request with null message
|
|
ret = rcl_action_take_cancel_request(&this->action_server, &request_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take cancel 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, &request_header, &incoming_cancel_request);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
action_msgs__srv__CancelGoal_Request__fini(&incoming_cancel_request);
|
|
action_msgs__srv__CancelGoal_Request__fini(&outgoing_cancel_request);
|
|
}
|
|
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_response_opts)
|
|
{
|
|
action_msgs__srv__CancelGoal_Response outgoing_cancel_response;
|
|
action_msgs__srv__CancelGoal_Response incoming_cancel_response;
|
|
action_msgs__srv__CancelGoal_Response__init(&outgoing_cancel_response);
|
|
action_msgs__srv__CancelGoal_Response__init(&incoming_cancel_response);
|
|
|
|
// Initialize cancel request
|
|
ASSERT_TRUE(action_msgs__msg__GoalInfo__Sequence__init(
|
|
&outgoing_cancel_response.goals_canceling, 2));
|
|
init_test_uuid0(outgoing_cancel_response.goals_canceling.data[0].goal_id.uuid);
|
|
outgoing_cancel_response.goals_canceling.data[0].stamp.sec = 102;
|
|
outgoing_cancel_response.goals_canceling.data[0].stamp.nanosec = 9468u;
|
|
init_test_uuid1(outgoing_cancel_response.goals_canceling.data[1].goal_id.uuid);
|
|
outgoing_cancel_response.goals_canceling.data[1].stamp.sec = 867;
|
|
outgoing_cancel_response.goals_canceling.data[1].stamp.nanosec = 6845u;
|
|
|
|
// Send cancel response with null action server
|
|
rmw_request_id_t response_header;
|
|
rcl_ret_t ret = rcl_action_send_cancel_response(
|
|
nullptr, &response_header, &outgoing_cancel_response);
|
|
ASSERT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send cancel 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, &response_header, &outgoing_cancel_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send cancel response with null header
|
|
ret = rcl_action_send_cancel_response(&this->action_server, nullptr, &outgoing_cancel_response);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send cancel response with null message
|
|
ret = rcl_action_send_cancel_response(&this->action_server, &response_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take cancel response with null action client
|
|
ret = rcl_action_take_cancel_response(nullptr, &response_header, &incoming_cancel_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take cancel response with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_take_cancel_response(
|
|
&invalid_action_client, &response_header, &incoming_cancel_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take cancel response with null message
|
|
ret = rcl_action_take_cancel_response(&this->action_client, &response_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
action_msgs__srv__CancelGoal_Response__fini(&incoming_cancel_response);
|
|
action_msgs__srv__CancelGoal_Response__fini(&outgoing_cancel_response);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_request_opts)
|
|
{
|
|
test_msgs__action__Fibonacci_Result_Request outgoing_result_request;
|
|
test_msgs__action__Fibonacci_Result_Request incoming_result_request;
|
|
test_msgs__action__Fibonacci_Result_Request__init(&outgoing_result_request);
|
|
test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request);
|
|
|
|
// Initialize result request
|
|
init_test_uuid0(outgoing_result_request.action_goal_id.uuid);
|
|
|
|
// Send result request with null action client
|
|
int64_t sequence_number = 1324;
|
|
rcl_ret_t ret = rcl_action_send_result_request(
|
|
nullptr, &outgoing_result_request, &sequence_number);
|
|
ASSERT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send result request with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_send_result_request(
|
|
&invalid_action_client, &outgoing_result_request, &sequence_number);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send result request with null message
|
|
ret = rcl_action_send_result_request(&this->action_client, nullptr, &sequence_number);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result request with null action server
|
|
rmw_request_id_t request_header;
|
|
ret = rcl_action_take_result_request(nullptr, &request_header, &incoming_result_request);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result 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, &request_header, &incoming_result_request);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result request with null header
|
|
ret = rcl_action_take_result_request(&this->action_server, nullptr, &incoming_result_request);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result request with null message
|
|
ret = rcl_action_take_result_request(&this->action_server, &request_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
test_msgs__action__Fibonacci_Result_Request__fini(&incoming_result_request);
|
|
test_msgs__action__Fibonacci_Result_Request__fini(&outgoing_result_request);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_response_opts)
|
|
{
|
|
test_msgs__action__Fibonacci_Result_Response outgoing_result_response;
|
|
test_msgs__action__Fibonacci_Result_Response incoming_result_response;
|
|
test_msgs__action__Fibonacci_Result_Response__init(&outgoing_result_response);
|
|
test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response);
|
|
|
|
// Initialize result response
|
|
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
|
|
&outgoing_result_response.sequence, 4));
|
|
outgoing_result_response.sequence.data[0] = 0;
|
|
outgoing_result_response.sequence.data[1] = 1;
|
|
outgoing_result_response.sequence.data[2] = 2;
|
|
outgoing_result_response.sequence.data[3] = 6;
|
|
outgoing_result_response.action_status =
|
|
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
|
|
|
|
// Send result response with null action client
|
|
rmw_request_id_t response_header;
|
|
rcl_ret_t ret = rcl_action_send_result_response(
|
|
nullptr, &response_header, &outgoing_result_response);
|
|
ASSERT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send result response with invalid action client
|
|
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
|
|
ret = rcl_action_send_result_response(
|
|
&invalid_action_server, &response_header, &outgoing_result_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send result response with null header
|
|
ret = rcl_action_send_result_response(&this->action_server, nullptr, &outgoing_result_response);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Send result response with null message
|
|
ret = rcl_action_send_result_response(&this->action_server, &response_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result response with null action client
|
|
ret = rcl_action_take_result_response(nullptr, &response_header, &incoming_result_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result response with null message
|
|
ret = rcl_action_take_result_response(&this->action_client, &response_header, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take result response with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_take_result_response(
|
|
&invalid_action_client, &response_header, &incoming_result_response);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
test_msgs__action__Fibonacci_Result_Response__fini(&incoming_result_response);
|
|
test_msgs__action__Fibonacci_Result_Response__fini(&outgoing_result_response);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feedback_opts)
|
|
{
|
|
test_msgs__action__Fibonacci_Feedback outgoing_feedback;
|
|
test_msgs__action__Fibonacci_Feedback incoming_feedback;
|
|
test_msgs__action__Fibonacci_Feedback__init(&outgoing_feedback);
|
|
test_msgs__action__Fibonacci_Feedback__init(&incoming_feedback);
|
|
|
|
// Initialize feedback
|
|
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
|
|
&outgoing_feedback.sequence, 3));
|
|
outgoing_feedback.sequence.data[0] = 0;
|
|
outgoing_feedback.sequence.data[1] = 1;
|
|
outgoing_feedback.sequence.data[2] = 2;
|
|
init_test_uuid0(outgoing_feedback.action_goal_id.uuid);
|
|
|
|
// Publish feedback with null action server
|
|
rcl_ret_t ret = rcl_action_publish_feedback(nullptr, &outgoing_feedback);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Publish feedback with null message
|
|
ret = rcl_action_publish_feedback(&this->action_server, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Publish feedback with invalid action server
|
|
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
|
|
ret = rcl_action_publish_feedback(&invalid_action_server, &outgoing_feedback);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take feedback with null action client
|
|
ret = rcl_action_take_feedback(nullptr, &incoming_feedback);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take feedback with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_take_feedback(&invalid_action_client, &incoming_feedback);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take feedback with null message
|
|
ret = rcl_action_take_feedback(&this->action_client, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
test_msgs__action__Fibonacci_Feedback__fini(&incoming_feedback);
|
|
test_msgs__action__Fibonacci_Feedback__fini(&outgoing_feedback);
|
|
}
|
|
|
|
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_status_opts)
|
|
{
|
|
action_msgs__msg__GoalStatusArray incoming_status_array;
|
|
action_msgs__msg__GoalStatusArray__init(&incoming_status_array);
|
|
|
|
// Using rcl_action_goal_status_array_t in lieu of a message instance works
|
|
// because these tests make use of C type support
|
|
rcl_action_goal_status_array_t status_array =
|
|
rcl_action_get_zero_initialized_goal_status_array();
|
|
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 null action server
|
|
ret = rcl_action_publish_status(nullptr, &status_array.msg);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Publish status with null message
|
|
ret = rcl_action_publish_status(&this->action_server, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Publish status with invalid action server
|
|
rcl_action_server_t invalid_action_server = rcl_action_get_zero_initialized_server();
|
|
ret = rcl_action_publish_status(&invalid_action_server, &status_array.msg);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take status with null action client
|
|
ret = rcl_action_take_status(nullptr, &incoming_status_array);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take status with invalid action client
|
|
rcl_action_client_t invalid_action_client = rcl_action_get_zero_initialized_client();
|
|
ret = rcl_action_take_status(&invalid_action_client, &incoming_status_array);
|
|
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
|
|
rcl_reset_error();
|
|
|
|
// Take status with null message
|
|
ret = rcl_action_take_status(&this->action_client, nullptr);
|
|
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << 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;
|
|
action_msgs__msg__GoalStatusArray__fini(&incoming_status_array);
|
|
}
|