Increase coverage rclcpp_action to 95% (#1290)
* Increase coverage rclcpp_action to 95% Signed-off-by: Stephen Brawner <brawner@gmail.com> * PR fixup Signed-off-by: Stephen Brawner <brawner@gmail.com> * Address PR Feedback Signed-off-by: Stephen Brawner <brawner@gmail.com> * Rebase onto #1311 Signed-off-by: Stephen Brawner <brawner@gmail.com> * rcutils test depend Signed-off-by: Stephen Brawner <brawner@gmail.com> * Cleaning up Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner
Alejandro Hernández Cordero
parent
43df9eff37
commit
730e99b742
6 changed files with 1062 additions and 23 deletions
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@ -15,6 +15,7 @@
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#include <rclcpp/exceptions.hpp>
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#include <rclcpp/node.hpp>
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#include <rclcpp/rclcpp.hpp>
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#include <rclcpp/scope_exit.hpp>
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#include <test_msgs/action/fibonacci.hpp>
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#include <gtest/gtest.h>
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@ -22,8 +23,11 @@
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#include <memory>
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#include <vector>
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#include "rcl_action/action_server.h"
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#include "rcl_action/wait.h"
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#include "rclcpp_action/create_server.hpp"
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#include "rclcpp_action/server.hpp"
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#include "./mocking_utils/patch.hpp"
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using Fibonacci = test_msgs::action::Fibonacci;
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using CancelResponse = typename Fibonacci::Impl::CancelGoalService::Response;
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@ -37,8 +41,15 @@ protected:
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rclcpp::init(0, nullptr);
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}
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static void TearDownTestCase()
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{
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rclcpp::shutdown();
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}
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std::shared_ptr<Fibonacci::Impl::SendGoalService::Request>
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send_goal_request(rclcpp::Node::SharedPtr node, GoalUUID uuid)
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send_goal_request(
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rclcpp::Node::SharedPtr node, GoalUUID uuid,
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std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
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{
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auto client = node->create_client<Fibonacci::Impl::SendGoalService>(
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"fibonacci/_action/send_goal");
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@ -48,17 +59,20 @@ protected:
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auto request = std::make_shared<Fibonacci::Impl::SendGoalService::Request>();
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request->goal_id.uuid = uuid;
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auto future = client->async_send_request(request);
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if (
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rclcpp::FutureReturnCode::SUCCESS !=
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rclcpp::spin_until_future_complete(node, future))
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{
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auto return_code = rclcpp::spin_until_future_complete(node, future, timeout);
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if (rclcpp::FutureReturnCode::SUCCESS == return_code) {
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return request;
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} else if (rclcpp::FutureReturnCode::TIMEOUT == return_code) {
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throw std::runtime_error("send goal future timed out");
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} else {
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throw std::runtime_error("send goal future didn't complete succesfully");
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}
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return request;
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}
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CancelResponse::SharedPtr
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send_cancel_request(rclcpp::Node::SharedPtr node, GoalUUID uuid)
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send_cancel_request(
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rclcpp::Node::SharedPtr node, GoalUUID uuid,
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std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
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{
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auto cancel_client = node->create_client<Fibonacci::Impl::CancelGoalService>(
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"fibonacci/_action/cancel_goal");
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@ -68,13 +82,14 @@ protected:
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auto request = std::make_shared<Fibonacci::Impl::CancelGoalService::Request>();
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request->goal_info.goal_id.uuid = uuid;
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auto future = cancel_client->async_send_request(request);
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if (
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rclcpp::FutureReturnCode::SUCCESS !=
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rclcpp::spin_until_future_complete(node, future))
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{
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throw std::runtime_error("cancel goal future didn't complete succesfully");
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auto return_code = rclcpp::spin_until_future_complete(node, future, timeout);
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if (rclcpp::FutureReturnCode::SUCCESS == return_code) {
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return future.get();
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} else if (rclcpp::FutureReturnCode::TIMEOUT == return_code) {
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throw std::runtime_error("cancel request future timed out");
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} else {
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throw std::runtime_error("cancel request future didn't complete succesfully");
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}
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return future.get();
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}
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};
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@ -146,6 +161,50 @@ TEST_F(TestServer, construction_and_destruction_callback_group)
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group));
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}
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TEST_F(TestServer, construction_and_destruction_server_init_error)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_server_init, RCL_RET_ERROR);
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auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
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EXPECT_THROW(
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{
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using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
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auto as = rclcpp_action::create_server<Fibonacci>(
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node, "fibonacci",
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[](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
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return rclcpp_action::GoalResponse::REJECT;
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},
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[](std::shared_ptr<GoalHandle>) {
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return rclcpp_action::CancelResponse::REJECT;
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},
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[](std::shared_ptr<GoalHandle>) {});
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(void)as;
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}, rclcpp::exceptions::RCLError);
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}
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TEST_F(TestServer, construction_and_destruction_wait_set_error)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_server_wait_set_get_num_entities, RCL_RET_ERROR);
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auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
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EXPECT_THROW(
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{
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using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
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auto as = rclcpp_action::create_server<Fibonacci>(
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node, "fibonacci",
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[](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
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return rclcpp_action::GoalResponse::REJECT;
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},
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[](std::shared_ptr<GoalHandle>) {
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return rclcpp_action::CancelResponse::REJECT;
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},
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[](std::shared_ptr<GoalHandle>) {});
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(void)as;
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}, rclcpp::exceptions::RCLError);
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}
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TEST_F(TestServer, handle_goal_called)
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{
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auto node = std::make_shared<rclcpp::Node>("handle_goal_node", "/rclcpp_action/handle_goal");
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@ -923,3 +982,238 @@ TEST_F(TestServer, deferred_execution)
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received_handle->execute();
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EXPECT_TRUE(received_handle->is_executing());
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}
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class TestBasicServer : public TestServer
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{
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public:
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void SetUp()
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{
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node_ = std::make_shared<rclcpp::Node>("goal_request", "/rclcpp_action/goal_request");
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uuid_ = {{1, 2, 3, 4, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}};
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action_server_ = rclcpp_action::create_server<Fibonacci>(
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node_, "fibonacci",
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[](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
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return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
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},
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[](std::shared_ptr<GoalHandle>) {
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return rclcpp_action::CancelResponse::ACCEPT;
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},
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[this](std::shared_ptr<GoalHandle> handle) {
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goal_handle_ = handle;
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});
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}
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void SendClientGoalRequest(
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std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
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{
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send_goal_request(node_, uuid_, timeout);
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auto result_client = node_->create_client<Fibonacci::Impl::GetResultService>(
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"fibonacci/_action/get_result");
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if (!result_client->wait_for_service(std::chrono::seconds(20))) {
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throw std::runtime_error("get result service didn't become available");
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}
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auto request = std::make_shared<Fibonacci::Impl::GetResultService::Request>();
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request->goal_id.uuid = uuid_;
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auto future = result_client->async_send_request(request);
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// Send a result
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auto result = std::make_shared<Fibonacci::Result>();
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result->sequence = {5, 8, 13, 21};
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goal_handle_->succeed(result);
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// Wait for the result request to be received
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ASSERT_EQ(
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rclcpp::FutureReturnCode::SUCCESS,
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rclcpp::spin_until_future_complete(node_, future));
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auto response = future.get();
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EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status);
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EXPECT_EQ(result->sequence, response->result.sequence);
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// Wait for goal expiration
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rclcpp::sleep_for(std::chrono::milliseconds(100));
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// Allow for expiration to take place
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rclcpp::spin_some(node_);
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// Send and wait for another result request
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future = result_client->async_send_request(request);
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ASSERT_EQ(
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rclcpp::FutureReturnCode::SUCCESS,
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rclcpp::spin_until_future_complete(node_, future));
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}
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protected:
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GoalUUID uuid_;
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std::shared_ptr<rclcpp::Node> node_;
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std::shared_ptr<rclcpp_action::Server<Fibonacci>> action_server_;
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using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
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std::shared_ptr<GoalHandle> goal_handle_;
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};
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class TestGoalRequestServer : public TestBasicServer {};
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TEST_F(TestGoalRequestServer, execute_goal_request_received_take_goal)
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{
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EXPECT_NO_THROW(SendClientGoalRequest());
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}
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class TestCancelRequestServer : public TestBasicServer
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{
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public:
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void SendClientCancelRequest(
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std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
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{
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send_goal_request(node_, uuid_, timeout);
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send_cancel_request(node_, uuid_, timeout);
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}
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};
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TEST_F(TestCancelRequestServer, execute_goal_request_received_take_goal)
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{
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EXPECT_NO_THROW(SendClientCancelRequest());
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}
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TEST_F(TestGoalRequestServer, is_ready_rcl_error) {
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rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
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rcutils_allocator_t allocator = rcutils_get_default_allocator();
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auto rcl_context = node_->get_node_base_interface()->get_context()->get_rcl_context().get();
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ASSERT_EQ(
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RCL_RET_OK,
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rcl_wait_set_init(&wait_set, 10, 10, 10, 10, 10, 10, rcl_context, allocator));
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RCLCPP_SCOPE_EXIT(
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{
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EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
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});
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ASSERT_TRUE(action_server_->add_to_wait_set(&wait_set));
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EXPECT_TRUE(action_server_->is_ready(&wait_set));
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_server_wait_set_get_entities_ready, RCL_RET_ERROR);
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EXPECT_THROW(action_server_->is_ready(&wait_set), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, execute_goal_request_received_take_goal_request_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_take_goal_request, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, execute_goal_request_received_send_goal_response_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_send_goal_response, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, execute_goal_request_received_accept_new_goal_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_accept_new_goal, nullptr);
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EXPECT_THROW(SendClientGoalRequest(), std::runtime_error);
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}
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TEST_F(TestGoalRequestServer, execute_goal_request_received_update_goal_state_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_update_goal_state, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, publish_status_server_get_goal_handles_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_server_get_goal_handles, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, publish_status_get_goal_status_array_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_get_goal_status_array, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, publish_status_publish_status_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_publish_status, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), std::runtime_error);
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}
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TEST_F(TestGoalRequestServer, execute_goal_request_received_take_failed)
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{
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auto mock = mocking_utils::inject_on_return(
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"lib:rclcpp_action", rcl_action_take_goal_request, RCL_RET_ACTION_SERVER_TAKE_FAILED);
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try {
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SendClientGoalRequest(std::chrono::milliseconds(100));
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ADD_FAILURE() << "SetupActionServerAndSpin did not throw, but was expected to";
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} catch (const std::runtime_error & e) {
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EXPECT_STREQ("send goal future timed out", e.what());
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} catch (...) {
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ADD_FAILURE() << "SetupActionServerAndSpin threw, but not the expected std::runtime_error";
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}
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}
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TEST_F(TestGoalRequestServer, get_result_rcl_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_take_result_request, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestGoalRequestServer, send_result_rcl_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_send_result_response, RCL_RET_ERROR);
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EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestCancelRequestServer, execute_cancel_request_received_take_cancel_request_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_take_cancel_request, RCL_RET_ERROR);
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EXPECT_THROW(SendClientCancelRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestCancelRequestServer, execute_cancel_request_received_take_failed)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_take_cancel_request, RCL_RET_ACTION_SERVER_TAKE_FAILED);
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try {
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SendClientCancelRequest(std::chrono::milliseconds(100));
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ADD_FAILURE() << "SetupActionServerAndSpin did not throw, but it was expected to";
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} catch (const std::runtime_error & e) {
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EXPECT_STREQ("cancel request future timed out", e.what());
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} catch (...) {
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ADD_FAILURE() << "SetupActionServerAndSpin threw, but not the expected std::runtime_error";
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}
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}
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TEST_F(TestCancelRequestServer, publish_status_rcl_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_process_cancel_request, RCL_RET_ERROR);
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EXPECT_THROW(SendClientCancelRequest(), rclcpp::exceptions::RCLError);
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}
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TEST_F(TestCancelRequestServer, publish_status_send_cancel_response_errors)
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{
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auto mock = mocking_utils::patch_and_return(
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"lib:rclcpp_action", rcl_action_send_cancel_response, RCL_RET_ERROR);
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EXPECT_THROW(SendClientCancelRequest(), std::runtime_error);
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}
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