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Increase rclcpp_action test coverage (#1153)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2020-06-08 11:03:34 -03:00 • committed by Alejandro Hernández Cordero
parent 77aae4019e
commit 43df9eff37
4 changed files with 277 additions and 65 deletions
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129
rclcpp_action/test/test_server.cpp
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@ -82,17 +82,42 @@ TEST_F(TestServer, construction_and_destruction)
{
auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
auto as = rclcpp_action::create_server<Fibonacci>(
node, "fibonacci",
[](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
return rclcpp_action::GoalResponse::REJECT;
},
[](std::shared_ptr<GoalHandle>) {
return rclcpp_action::CancelResponse::REJECT;
},
[](std::shared_ptr<GoalHandle>) {});
(void)as;
ASSERT_NO_THROW(
{
using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
auto as = rclcpp_action::create_server<Fibonacci>(
node, "fibonacci",
[](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
return rclcpp_action::GoalResponse::REJECT;
},
[](std::shared_ptr<GoalHandle>) {
return rclcpp_action::CancelResponse::REJECT;
},
[](std::shared_ptr<GoalHandle>) {});
(void)as;
});
}
TEST_F(TestServer, construction_and_destruction_after_node)
{
auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
ASSERT_NO_THROW(
{
using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
auto as = rclcpp_action::create_server<Fibonacci>(
node, "fibonacci",
[](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
return rclcpp_action::GoalResponse::REJECT;
},
[](std::shared_ptr<GoalHandle>) {
return rclcpp_action::CancelResponse::REJECT;
},
[](std::shared_ptr<GoalHandle>) {});
(void)as;
node.reset();
});
}
TEST_F(TestServer, construction_and_destruction_callback_group)
@ -733,6 +758,84 @@ TEST_F(TestServer, get_result)
using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
auto handle_cancel = [](std::shared_ptr<GoalHandle>)
{
return rclcpp_action::CancelResponse::REJECT;
};
std::shared_ptr<GoalHandle> received_handle;
auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
{
received_handle = handle;
};
const std::chrono::milliseconds result_timeout{50};
rcl_action_server_options_t options = rcl_action_server_get_default_options();
options.result_timeout.nanoseconds = RCL_MS_TO_NS(result_timeout.count());
auto as = rclcpp_action::create_server<Fibonacci>(
node, "fibonacci",
handle_goal,
handle_cancel,
handle_accepted,
options);
(void)as;
send_goal_request(node, uuid);
// Send result request
auto result_client = node->create_client<Fibonacci::Impl::GetResultService>(
"fibonacci/_action/get_result");
if (!result_client->wait_for_service(std::chrono::seconds(20))) {
throw std::runtime_error("get result service didn't become available");
}
auto request = std::make_shared<Fibonacci::Impl::GetResultService::Request>();
request->goal_id.uuid = uuid;
auto future = result_client->async_send_request(request);
// Send a result
auto result = std::make_shared<Fibonacci::Result>();
result->sequence = {5, 8, 13, 21};
received_handle->succeed(result);
// Wait for the result request to be received
ASSERT_EQ(
rclcpp::FutureReturnCode::SUCCESS,
rclcpp::spin_until_future_complete(node, future));
auto response = future.get();
EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status);
EXPECT_EQ(result->sequence, response->result.sequence);
// Wait for goal expiration
rclcpp::sleep_for(2 * result_timeout);
// Allow for expiration to take place
rclcpp::spin_some(node);
// Send and wait for another result request
future = result_client->async_send_request(request);
ASSERT_EQ(
rclcpp::FutureReturnCode::SUCCESS,
rclcpp::spin_until_future_complete(node, future));
response = future.get();
EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_UNKNOWN, response->status);
}
TEST_F(TestServer, get_result_deferred)
{
auto node = std::make_shared<rclcpp::Node>("get_result", "/rclcpp_action/get_result");
const GoalUUID uuid{{1, 2, 3, 4, 5, 6, 7, 80, 90, 10, 11, 12, 13, 14, 15, 160}};
auto handle_goal = [](
const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>)
{
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
};
using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
auto handle_cancel = [](std::shared_ptr<GoalHandle>)
{
return rclcpp_action::CancelResponse::REJECT;
@ -763,6 +866,10 @@ TEST_F(TestServer, get_result)
request->goal_id.uuid = uuid;
auto future = result_client->async_send_request(request);
// Process request first
rclcpp::sleep_for(std::chrono::milliseconds(10)); // Give a chance for the request to be served
rclcpp::spin_some(node);
// Send a result
auto result = std::make_shared<Fibonacci::Result>();
result->sequence = {5, 8, 13, 21};