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Increase coverage rclcpp_action to 95% (#1290)

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* 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 2020-09-22 10:59:13 -07:00 • committed by Alejandro Hernández Cordero
parent 43df9eff37
commit 730e99b742
6 changed files with 1062 additions and 23 deletions
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159
rclcpp_action/test/test_server_goal_handle.cpp Normal file
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// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <rclcpp/exceptions.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/rclcpp.hpp>
#include <test_msgs/action/fibonacci.hpp>
#include <gtest/gtest.h>
#include <memory>
#include <vector>
#include "action_msgs/msg/goal_info.h"
#include "rclcpp_action/server_goal_handle.hpp"
#include "./mocking_utils/patch.hpp"
class FibonacciServerGoalHandle
: public rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>
{
public:
FibonacciServerGoalHandle(
std::shared_ptr<rcl_action_goal_handle_t> rcl_handle,
rclcpp_action::GoalUUID uuid,
std::shared_ptr<const test_msgs::action::Fibonacci::Goal> goal,
std::function<void(
const rclcpp_action::GoalUUID &, std::shared_ptr<void>)> on_terminal_state,
std::function<void(const rclcpp_action::GoalUUID &)> on_executing,
std::function<void(
std::shared_ptr<test_msgs::action::Fibonacci::Impl::FeedbackMessage>)> publish_feedback)
: rclcpp_action::ServerGoalHandle<test_msgs::action::Fibonacci>(
rcl_handle, uuid, goal, on_terminal_state, on_executing, publish_feedback) {}
bool try_cancel() {return try_canceling();}
void cancel_goal() {_cancel_goal();}
};
class TestServerGoalHandle : public ::testing::Test
{
public:
TestServerGoalHandle()
: handle_(nullptr) {}
void SetUp()
{
std::shared_ptr<rcl_action_goal_handle_t> rcl_handle =
std::make_shared<rcl_action_goal_handle_t>();
*rcl_handle.get() = rcl_action_get_zero_initialized_goal_handle();
rcutils_allocator_t allocator = rcutils_get_default_allocator();
rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
ASSERT_EQ(RCL_RET_OK, rcl_action_goal_handle_init(rcl_handle.get(), &goal_info, allocator));
rclcpp_action::GoalUUID uuid;
std::shared_ptr<const test_msgs::action::Fibonacci::Goal> goal =
std::make_shared<const test_msgs::action::Fibonacci::Goal>();
auto on_terminal_state = [](const rclcpp_action::GoalUUID &, std::shared_ptr<void>) {};
auto on_executing = [](const rclcpp_action::GoalUUID &) {};
auto publish_feedback =
[](std::shared_ptr<test_msgs::action::Fibonacci::Impl::FeedbackMessage>) {};
handle_ = std::make_unique<FibonacciServerGoalHandle>(
rcl_handle, uuid, goal, on_terminal_state, on_executing, publish_feedback);
}
protected:
std::unique_ptr<FibonacciServerGoalHandle> handle_;
};
TEST_F(TestServerGoalHandle, construct_destruct) {
EXPECT_FALSE(handle_->is_canceling());
EXPECT_TRUE(handle_->is_active());
EXPECT_FALSE(handle_->is_executing());
}
TEST_F(TestServerGoalHandle, cancel) {
handle_->execute();
EXPECT_TRUE(handle_->try_cancel());
EXPECT_FALSE(handle_->is_canceling());
EXPECT_FALSE(handle_->is_active());
EXPECT_FALSE(handle_->is_executing());
{
auto mock_get_status = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_goal_handle_get_status, RCL_RET_ERROR);
EXPECT_FALSE(handle_->try_cancel());
}
{
auto mock_update_status = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_update_goal_state, RCL_RET_ERROR);
auto mock_is_cancelable = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_goal_handle_is_cancelable, true);
EXPECT_FALSE(handle_->try_cancel());
EXPECT_THROW(handle_->cancel_goal(), rclcpp::exceptions::RCLError);
test_msgs::action::Fibonacci::Result::SharedPtr result =
std::make_shared<test_msgs::action::Fibonacci::Result>();
EXPECT_THROW(handle_->canceled(result), rclcpp::exceptions::RCLError);
}
}
TEST_F(TestServerGoalHandle, abort) {
handle_->execute();
test_msgs::action::Fibonacci::Result::SharedPtr result =
std::make_shared<test_msgs::action::Fibonacci::Result>();
handle_->abort(result);
EXPECT_FALSE(handle_->is_canceling());
EXPECT_FALSE(handle_->is_active());
EXPECT_FALSE(handle_->is_executing());
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_update_goal_state, RCL_RET_ERROR);
EXPECT_THROW(handle_->abort(result), rclcpp::exceptions::RCLError);
}
TEST_F(TestServerGoalHandle, succeed) {
handle_->execute();
test_msgs::action::Fibonacci::Result::SharedPtr result =
std::make_shared<test_msgs::action::Fibonacci::Result>();
handle_->succeed(result);
EXPECT_FALSE(handle_->is_canceling());
EXPECT_FALSE(handle_->is_active());
EXPECT_FALSE(handle_->is_executing());
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_update_goal_state, RCL_RET_ERROR);
EXPECT_THROW(handle_->succeed(result), rclcpp::exceptions::RCLError);
}
TEST_F(TestServerGoalHandle, execute) {
handle_->execute();
EXPECT_FALSE(handle_->is_canceling());
EXPECT_TRUE(handle_->is_active());
EXPECT_TRUE(handle_->is_executing());
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_update_goal_state, RCL_RET_ERROR);
EXPECT_THROW(handle_->execute(), rclcpp::exceptions::RCLError);
}
TEST_F(TestServerGoalHandle, rcl_action_goal_handle_get_status_error) {
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_action", rcl_action_goal_handle_get_status, RCL_RET_ERROR);
EXPECT_THROW(handle_->is_canceling(), rclcpp::exceptions::RCLError);
EXPECT_NO_THROW(handle_->is_active());
EXPECT_THROW(handle_->is_executing(), rclcpp::exceptions::RCLError);
}