rclcpp/rclcpp_action/test/test_server.cpp

// Copyright 2018 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 <rclcpp/scope_exit.hpp>
#include <test_msgs/action/fibonacci.hpp>

#include <gtest/gtest.h>

#include <memory>
#include <vector>

#include "rcl_action/action_server.h"
#include "rcl_action/wait.h"
#include "rclcpp_action/create_server.hpp"
#include "rclcpp_action/server.hpp"
#include "./mocking_utils/patch.hpp"

using Fibonacci = test_msgs::action::Fibonacci;
using CancelResponse = typename Fibonacci::Impl::CancelGoalService::Response;
using GoalUUID = rclcpp_action::GoalUUID;

class TestServer : public ::testing::Test
{
protected:
  static void SetUpTestCase()
  {
    rclcpp::init(0, nullptr);
  }

  static void TearDownTestCase()
  {
    rclcpp::shutdown();
  }

  std::shared_ptr<Fibonacci::Impl::SendGoalService::Request>
  send_goal_request(
    rclcpp::Node::SharedPtr node, GoalUUID uuid,
    std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
  {
    auto client = node->create_client<Fibonacci::Impl::SendGoalService>(
      "fibonacci/_action/send_goal");
    if (!client->wait_for_service(std::chrono::seconds(20))) {
      throw std::runtime_error("send goal service didn't become available");
    }
    auto request = std::make_shared<Fibonacci::Impl::SendGoalService::Request>();
    request->goal_id.uuid = uuid;
    auto future = client->async_send_request(request);
    auto return_code = rclcpp::spin_until_future_complete(node, future, timeout);
    if (rclcpp::FutureReturnCode::SUCCESS == return_code) {
      return request;
    } else if (rclcpp::FutureReturnCode::TIMEOUT == return_code) {
      throw std::runtime_error("send goal future timed out");
    } else {
      throw std::runtime_error("send goal future didn't complete succesfully");
    }
  }

  CancelResponse::SharedPtr
  send_cancel_request(
    rclcpp::Node::SharedPtr node, GoalUUID uuid,
    std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
  {
    auto cancel_client = node->create_client<Fibonacci::Impl::CancelGoalService>(
      "fibonacci/_action/cancel_goal");
    if (!cancel_client->wait_for_service(std::chrono::seconds(20))) {
      throw std::runtime_error("cancel goal service didn't become available");
    }
    auto request = std::make_shared<Fibonacci::Impl::CancelGoalService::Request>();
    request->goal_info.goal_id.uuid = uuid;
    auto future = cancel_client->async_send_request(request);
    auto return_code = rclcpp::spin_until_future_complete(node, future, timeout);
    if (rclcpp::FutureReturnCode::SUCCESS == return_code) {
      return future.get();
    } else if (rclcpp::FutureReturnCode::TIMEOUT == return_code) {
      throw std::runtime_error("cancel request future timed out");
    } else {
      throw std::runtime_error("cancel request future didn't complete succesfully");
    }
  }
};

TEST_F(TestServer, construction_and_destruction)
{
  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;
  });
}

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)
{
  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, construction_and_destruction_server_init_error)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_server_init, RCL_RET_ERROR);
  auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");

  EXPECT_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;
  }, rclcpp::exceptions::RCLError);
}

TEST_F(TestServer, construction_and_destruction_wait_set_error)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_server_wait_set_get_num_entities, RCL_RET_ERROR);
  auto node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");

  EXPECT_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;
  }, rclcpp::exceptions::RCLError);
}

TEST_F(TestServer, handle_goal_called)
{
  auto node = std::make_shared<rclcpp::Node>("handle_goal_node", "/rclcpp_action/handle_goal");
  GoalUUID received_uuid;

  auto handle_goal = [&received_uuid](
    const GoalUUID & uuid, std::shared_ptr<const Fibonacci::Goal>)
    {
      received_uuid = uuid;
      return rclcpp_action::GoalResponse::REJECT;
    };

  using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    [](std::shared_ptr<GoalHandle>) {
      return rclcpp_action::CancelResponse::REJECT;
    },
    [](std::shared_ptr<GoalHandle>) {});
  (void)as;

  // Create a client that calls the goal request service
  // Make sure the UUID received is the same as the one sent

  auto client = node->create_client<Fibonacci::Impl::SendGoalService>(
    "fibonacci/_action/send_goal");

  ASSERT_TRUE(client->wait_for_service(std::chrono::seconds(20)));

  auto request = std::make_shared<Fibonacci::Impl::SendGoalService::Request>();

  const GoalUUID uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};
  request->goal_id.uuid = uuid;

  auto future = client->async_send_request(request);
  ASSERT_EQ(
    rclcpp::FutureReturnCode::SUCCESS,
    rclcpp::spin_until_future_complete(node, future));

  ASSERT_EQ(uuid, received_uuid);
}

TEST_F(TestServer, handle_accepted_called)
{
  auto node = std::make_shared<rclcpp::Node>("handle_exec_node", "/rclcpp_action/handle_accepted");
  const GoalUUID uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};

  auto handle_goal = [](
    const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>)
    {
      return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
    };

  using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    [](std::shared_ptr<GoalHandle>) {
      return rclcpp_action::CancelResponse::REJECT;
    },
    handle_accepted);
  (void)as;

  auto request = send_goal_request(node, uuid);

  ASSERT_TRUE(received_handle);
  ASSERT_TRUE(received_handle->is_active());
  EXPECT_EQ(uuid, received_handle->get_goal_id());
  EXPECT_EQ(request->goal, *(received_handle->get_goal()));
}

TEST_F(TestServer, handle_cancel_called)
{
  auto node = std::make_shared<rclcpp::Node>("handle_cancel_node", "/rclcpp_action/handle_cancel");
  const GoalUUID uuid{{10, 20, 30, 40, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};

  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::ACCEPT;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  send_goal_request(node, uuid);

  ASSERT_TRUE(received_handle);
  EXPECT_EQ(uuid, received_handle->get_goal_id());
  EXPECT_FALSE(received_handle->is_canceling());

  send_cancel_request(node, uuid);
  EXPECT_TRUE(received_handle->is_canceling());
}

TEST_F(TestServer, handle_cancel_reject)
{
  auto node = std::make_shared<rclcpp::Node>("handle_cancel_node", "/rclcpp_action/handle_cancel");
  const GoalUUID uuid{{10, 20, 30, 40, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};

  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;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  send_goal_request(node, uuid);

  ASSERT_TRUE(received_handle);
  EXPECT_EQ(uuid, received_handle->get_goal_id());
  EXPECT_FALSE(received_handle->is_canceling());

  auto response_ptr = send_cancel_request(node, uuid);
  EXPECT_FALSE(received_handle->is_canceling());
  EXPECT_EQ(CancelResponse::ERROR_REJECTED, response_ptr->return_code);
}

TEST_F(TestServer, handle_cancel_unknown_goal)
{
  auto node = std::make_shared<rclcpp::Node>("handle_cancel_node", "/rclcpp_action/handle_cancel");
  const GoalUUID uuid{{10, 20, 30, 40, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};
  const GoalUUID unknown_uuid{{11, 22, 33, 44, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17}};

  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::ACCEPT;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  send_goal_request(node, uuid);

  ASSERT_TRUE(received_handle);
  EXPECT_EQ(uuid, received_handle->get_goal_id());
  EXPECT_FALSE(received_handle->is_canceling());

  auto response_ptr = send_cancel_request(node, unknown_uuid);
  EXPECT_FALSE(received_handle->is_canceling());
  EXPECT_EQ(CancelResponse::ERROR_UNKNOWN_GOAL_ID, response_ptr->return_code);
}

TEST_F(TestServer, handle_cancel_terminated_goal)
{
  auto node = std::make_shared<rclcpp::Node>("handle_cancel_node", "/rclcpp_action/handle_cancel");
  const GoalUUID uuid{{10, 20, 30, 40, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}};

  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::ACCEPT;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
      handle->succeed(std::make_shared<Fibonacci::Result>());
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  send_goal_request(node, uuid);

  ASSERT_TRUE(received_handle);
  EXPECT_EQ(uuid, received_handle->get_goal_id());
  EXPECT_FALSE(received_handle->is_canceling());

  auto response_ptr = send_cancel_request(node, uuid);
  EXPECT_FALSE(received_handle->is_canceling());
  EXPECT_EQ(CancelResponse::ERROR_GOAL_TERMINATED, response_ptr->return_code);
}

TEST_F(TestServer, publish_status_accepted)
{
  auto node = std::make_shared<rclcpp::Node>("status_accept_node", "/rclcpp_action/status_accept");
  const GoalUUID uuid{{1, 2, 3, 4, 5, 6, 7, 8, 9, 100, 110, 120, 13, 14, 15, 16}};

  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;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  // Subscribe to status messages
  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
  auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
    "fibonacci/_action/status", 10,
    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
    {
      received_msgs.push_back(list);
    });

  send_goal_request(node, uuid);

  // 10 seconds
  const size_t max_tries = 10 * 1000 / 100;
  for (size_t retry = 0; retry < max_tries && received_msgs.size() != 1u; ++retry) {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    rclcpp::spin_some(node);
  }

  ASSERT_LT(0u, received_msgs.size());
  // Not sure whether accepted will come through because not sure when subscriber will match
  for (auto & msg : received_msgs) {
    ASSERT_EQ(1u, msg->status_list.size());
    EXPECT_EQ(uuid, msg->status_list.at(0).goal_info.goal_id.uuid);
    auto status = msg->status_list.at(0).status;
    if (action_msgs::msg::GoalStatus::STATUS_ACCEPTED == status) {
      EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_ACCEPTED, status);
    } else {
      EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_EXECUTING, status);
    }
  }
}

TEST_F(TestServer, publish_status_canceling)
{
  auto node = std::make_shared<rclcpp::Node>("status_cancel_node", "/rclcpp_action/status_cancel");
  const GoalUUID uuid{{1, 2, 3, 40, 5, 6, 7, 80, 9, 10, 11, 120, 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::ACCEPT;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  // Subscribe to status messages
  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
  auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
    "fibonacci/_action/status", 10,
    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
    {
      received_msgs.push_back(list);
    });

  send_goal_request(node, uuid);
  send_cancel_request(node, uuid);

  // 10 seconds
  const size_t max_tries = 10 * 1000 / 100;
  for (size_t retry = 0; retry < max_tries && received_msgs.size() < 2u; ++retry) {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    rclcpp::spin_some(node);
  }

  ASSERT_LT(0u, received_msgs.size());
  auto & msg = received_msgs.back();
  ASSERT_EQ(1u, msg->status_list.size());
  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_CANCELING, msg->status_list.at(0).status);
  EXPECT_EQ(uuid, msg->status_list.at(0).goal_info.goal_id.uuid);
}

TEST_F(TestServer, publish_status_canceled)
{
  auto node = std::make_shared<rclcpp::Node>("status_canceled", "/rclcpp_action/status_canceled");
  const GoalUUID uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 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::ACCEPT;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  // Subscribe to status messages
  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
  auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
    "fibonacci/_action/status", 10,
    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
    {
      received_msgs.push_back(list);
    });

  send_goal_request(node, uuid);
  send_cancel_request(node, uuid);

  received_handle->canceled(std::make_shared<Fibonacci::Result>());

  // 10 seconds
  const size_t max_tries = 10 * 1000 / 100;
  for (size_t retry = 0; retry < max_tries && received_msgs.size() < 3u; ++retry) {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    rclcpp::spin_some(node);
  }

  ASSERT_LT(0u, received_msgs.size());
  auto & msg = received_msgs.back();
  ASSERT_EQ(1u, msg->status_list.size());
  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_CANCELED, msg->status_list.at(0).status);
  EXPECT_EQ(uuid, msg->status_list.at(0).goal_info.goal_id.uuid);
}

TEST_F(TestServer, publish_status_succeeded)
{
  auto node = std::make_shared<rclcpp::Node>("status_succeeded", "/rclcpp_action/status_succeeded");
  const GoalUUID uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 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;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  // Subscribe to status messages
  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
  auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
    "fibonacci/_action/status", 10,
    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
    {
      received_msgs.push_back(list);
    });

  send_goal_request(node, uuid);
  received_handle->succeed(std::make_shared<Fibonacci::Result>());

  // 10 seconds
  const size_t max_tries = 10 * 1000 / 100;
  for (size_t retry = 0; retry < max_tries && received_msgs.size() < 2u; ++retry) {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    rclcpp::spin_some(node);
  }

  ASSERT_LT(0u, received_msgs.size());
  auto & msg = received_msgs.back();
  ASSERT_EQ(1u, msg->status_list.size());
  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, msg->status_list.at(0).status);
  EXPECT_EQ(uuid, msg->status_list.at(0).goal_info.goal_id.uuid);
}

TEST_F(TestServer, publish_status_aborted)
{
  auto node = std::make_shared<rclcpp::Node>("status_aborted", "/rclcpp_action/status_aborted");
  const GoalUUID uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 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;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  // Subscribe to status messages
  std::vector<action_msgs::msg::GoalStatusArray::SharedPtr> received_msgs;
  auto subscriber = node->create_subscription<action_msgs::msg::GoalStatusArray>(
    "fibonacci/_action/status", 10,
    [&received_msgs](action_msgs::msg::GoalStatusArray::SharedPtr list)
    {
      received_msgs.push_back(list);
    });

  send_goal_request(node, uuid);
  received_handle->abort(std::make_shared<Fibonacci::Result>());

  // 10 seconds
  const size_t max_tries = 10 * 1000 / 100;
  for (size_t retry = 0; retry < max_tries && received_msgs.size() < 2u; ++retry) {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    rclcpp::spin_some(node);
  }

  ASSERT_LT(0u, received_msgs.size());
  auto & msg = received_msgs.back();
  ASSERT_EQ(1u, msg->status_list.size());
  EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_ABORTED, msg->status_list.at(0).status);
  EXPECT_EQ(uuid, msg->status_list.at(0).goal_info.goal_id.uuid);
}

TEST_F(TestServer, publish_feedback)
{
  auto node = std::make_shared<rclcpp::Node>("pub_feedback", "/rclcpp_action/pub_feedback");
  const GoalUUID uuid{{1, 20, 30, 4, 5, 6, 70, 8, 9, 1, 11, 120, 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;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  // Subscribe to feedback messages
  using FeedbackT = Fibonacci::Impl::FeedbackMessage;
  std::vector<FeedbackT::SharedPtr> received_msgs;
  auto subscriber = node->create_subscription<FeedbackT>(
    "fibonacci/_action/feedback", 10, [&received_msgs](FeedbackT::SharedPtr msg)
    {
      received_msgs.push_back(msg);
    });

  send_goal_request(node, uuid);

  auto sent_message = std::make_shared<Fibonacci::Feedback>();
  sent_message->sequence = {1, 1, 2, 3, 5};
  received_handle->publish_feedback(sent_message);

  // 10 seconds
  const size_t max_tries = 10 * 1000 / 100;
  for (size_t retry = 0; retry < max_tries && received_msgs.size() < 1u; ++retry) {
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    rclcpp::spin_some(node);
  }

  ASSERT_EQ(1u, received_msgs.size());
  auto & msg = received_msgs.back();
  ASSERT_EQ(sent_message->sequence, msg->feedback.sequence);
}

TEST_F(TestServer, get_result)
{
  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;
    };

  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;
    };

  std::shared_ptr<GoalHandle> received_handle;
  auto handle_accepted = [&received_handle](std::shared_ptr<GoalHandle> handle)
    {
      received_handle = handle;
    };

  auto as = rclcpp_action::create_server<Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (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);

  // 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};
  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);
}

TEST_F(TestServer, deferred_execution)
{
  auto node = std::make_shared<rclcpp::Node>("defer_exec", "/rclcpp_action/defer_exec");
  const GoalUUID uuid{{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}};

  auto handle_goal = [](
    const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>)
    {
      return rclcpp_action::GoalResponse::ACCEPT_AND_DEFER;
    };

  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;
    };

  auto as = rclcpp_action::create_server<test_msgs::action::Fibonacci>(
    node, "fibonacci",
    handle_goal,
    handle_cancel,
    handle_accepted);
  (void)as;

  send_goal_request(node, uuid);

  EXPECT_TRUE(received_handle->is_active());
  EXPECT_FALSE(received_handle->is_executing());
  received_handle->execute();
  EXPECT_TRUE(received_handle->is_executing());
}

class TestBasicServer : public TestServer
{
public:
  void SetUp()
  {
    node_ = std::make_shared<rclcpp::Node>("goal_request", "/rclcpp_action/goal_request");
    uuid_ = {{1, 2, 3, 4, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}};
    action_server_ = rclcpp_action::create_server<Fibonacci>(
      node_, "fibonacci",
      [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
        return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
      },
      [](std::shared_ptr<GoalHandle>) {
        return rclcpp_action::CancelResponse::ACCEPT;
      },
      [this](std::shared_ptr<GoalHandle> handle) {
        goal_handle_ = handle;
      });
  }

  void SendClientGoalRequest(
    std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
  {
    send_goal_request(node_, uuid_, timeout);
    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};
    goal_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(std::chrono::milliseconds(100));

    // 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));
  }

protected:
  GoalUUID uuid_;
  std::shared_ptr<rclcpp::Node> node_;
  std::shared_ptr<rclcpp_action::Server<Fibonacci>> action_server_;

  using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
  std::shared_ptr<GoalHandle> goal_handle_;
};

class TestGoalRequestServer : public TestBasicServer {};

TEST_F(TestGoalRequestServer, execute_goal_request_received_take_goal)
{
  EXPECT_NO_THROW(SendClientGoalRequest());
}

class TestCancelRequestServer : public TestBasicServer
{
public:
  void SendClientCancelRequest(
    std::chrono::milliseconds timeout = std::chrono::milliseconds(-1))
  {
    send_goal_request(node_, uuid_, timeout);
    send_cancel_request(node_, uuid_, timeout);
  }
};

TEST_F(TestCancelRequestServer, execute_goal_request_received_take_goal)
{
  EXPECT_NO_THROW(SendClientCancelRequest());
}

TEST_F(TestGoalRequestServer, is_ready_rcl_error) {
  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
  rcutils_allocator_t allocator = rcutils_get_default_allocator();
  auto rcl_context = node_->get_node_base_interface()->get_context()->get_rcl_context().get();
  ASSERT_EQ(
    RCL_RET_OK,
    rcl_wait_set_init(&wait_set, 10, 10, 10, 10, 10, 10, rcl_context, allocator));
  RCLCPP_SCOPE_EXIT(
  {
    EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
  });
  ASSERT_TRUE(action_server_->add_to_wait_set(&wait_set));

  EXPECT_TRUE(action_server_->is_ready(&wait_set));
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_server_wait_set_get_entities_ready, RCL_RET_ERROR);
  EXPECT_THROW(action_server_->is_ready(&wait_set), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, execute_goal_request_received_take_goal_request_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_take_goal_request, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, execute_goal_request_received_send_goal_response_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_send_goal_response, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, execute_goal_request_received_accept_new_goal_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_accept_new_goal, nullptr);

  EXPECT_THROW(SendClientGoalRequest(), std::runtime_error);
}

TEST_F(TestGoalRequestServer, execute_goal_request_received_update_goal_state_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_update_goal_state, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, publish_status_server_get_goal_handles_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_server_get_goal_handles, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, publish_status_get_goal_status_array_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_get_goal_status_array, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, publish_status_publish_status_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_publish_status, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), std::runtime_error);
}

TEST_F(TestGoalRequestServer, execute_goal_request_received_take_failed)
{
  auto mock = mocking_utils::inject_on_return(
    "lib:rclcpp_action", rcl_action_take_goal_request, RCL_RET_ACTION_SERVER_TAKE_FAILED);
  try {
    SendClientGoalRequest(std::chrono::milliseconds(100));
    ADD_FAILURE() << "SetupActionServerAndSpin did not throw, but was expected to";
  } catch (const std::runtime_error & e) {
    EXPECT_STREQ("send goal future timed out", e.what());
  } catch (...) {
    ADD_FAILURE() << "SetupActionServerAndSpin threw, but not the expected std::runtime_error";
  }
}

TEST_F(TestGoalRequestServer, get_result_rcl_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_take_result_request, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestGoalRequestServer, send_result_rcl_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_send_result_response, RCL_RET_ERROR);

  EXPECT_THROW(SendClientGoalRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestCancelRequestServer, execute_cancel_request_received_take_cancel_request_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_take_cancel_request, RCL_RET_ERROR);

  EXPECT_THROW(SendClientCancelRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestCancelRequestServer, execute_cancel_request_received_take_failed)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_take_cancel_request, RCL_RET_ACTION_SERVER_TAKE_FAILED);
  try {
    SendClientCancelRequest(std::chrono::milliseconds(100));
    ADD_FAILURE() << "SetupActionServerAndSpin did not throw, but it was expected to";
  } catch (const std::runtime_error & e) {
    EXPECT_STREQ("cancel request future timed out", e.what());
  } catch (...) {
    ADD_FAILURE() << "SetupActionServerAndSpin threw, but not the expected std::runtime_error";
  }
}

TEST_F(TestCancelRequestServer, publish_status_rcl_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_process_cancel_request, RCL_RET_ERROR);

  EXPECT_THROW(SendClientCancelRequest(), rclcpp::exceptions::RCLError);
}

TEST_F(TestCancelRequestServer, publish_status_send_cancel_response_errors)
{
  auto mock = mocking_utils::patch_and_return(
    "lib:rclcpp_action", rcl_action_send_cancel_response, RCL_RET_ERROR);

  EXPECT_THROW(SendClientCancelRequest(), std::runtime_error);
}