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adapt to action implicit changes (#602)

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Shane Loretz 2018-12-06 16:42:25 -08:00 • committed by GitHub
parent fe09d937b7
commit ef2014ac4d
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5 changed files with 31 additions and 29 deletions
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10
rclcpp_action/test/test_server.cpp
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@ -45,7 +45,7 @@ protected:
throw std::runtime_error("send goal service didn't become available");
}
auto request = std::make_shared<Fibonacci::GoalRequestService::Request>();
request->uuid = uuid;
request->action_goal_id.uuid = uuid;
auto future = client->async_send_request(request);
if (rclcpp::executor::FutureReturnCode::SUCCESS !=
rclcpp::spin_until_future_complete(node, future))
@ -122,7 +122,7 @@ TEST_F(TestServer, handle_goal_called)
auto request = std::make_shared<Fibonacci::GoalRequestService::Request>();
const GoalID uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};
request->uuid = uuid;
request->action_goal_id.uuid = uuid;
auto future = client->async_send_request(request);
ASSERT_EQ(
@ -545,7 +545,7 @@ TEST_F(TestServer, publish_feedback)
ASSERT_EQ(1u, received_msgs.size());
auto & msg = received_msgs.back();
ASSERT_EQ(sent_message->sequence, msg->sequence);
ASSERT_EQ(uuid, msg->uuid);
ASSERT_EQ(uuid, msg->action_goal_id.uuid);
}
TEST_F(TestServer, get_result)
@ -587,7 +587,7 @@ TEST_F(TestServer, get_result)
throw std::runtime_error("get result service didn't become available");
}
auto request = std::make_shared<Fibonacci::GoalResultService::Request>();
request->uuid = uuid;
request->action_goal_id.uuid = uuid;
auto future = result_client->async_send_request(request);
// Send a result
@ -600,7 +600,7 @@ TEST_F(TestServer, get_result)
rclcpp::spin_until_future_complete(node, future));
auto response = future.get();
EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status);
EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->action_status);
EXPECT_EQ(result->sequence, response->sequence);
}