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Increasing test coverage of rclcpp_action (#1043)

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* Increasing test coverage of rclcpp_action

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Increasing test coverage of rclcpp_action

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix warnings

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-04-29 14:25:52 -07:00 • committed by GitHub
parent 9150201d28
commit e6325839f1
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4 changed files with 112 additions and 0 deletions
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26
rclcpp_action/test/test_server.cpp
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@ -95,6 +95,32 @@ TEST_F(TestServer, construction_and_destruction)
(void)as;
}
TEST_F(TestServer, construction_and_destruction_callback_group)
{
auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
auto group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive);
const rcl_action_server_options_t & options = rcl_action_server_get_default_options();
using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
ASSERT_NO_THROW(
rclcpp_action::create_server<Fibonacci>(
node->get_node_base_interface(),
node->get_node_clock_interface(),
node->get_node_logging_interface(),
node->get_node_waitables_interface(),
"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>) {},
options,
group));
}
TEST_F(TestServer, handle_goal_called)
{
auto node = std::make_shared<rclcpp::Node>("handle_goal_node", "/rclcpp_action/handle_goal");