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update new tests
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@dirk-thomas
dirk-thomas committed Nov 30, 2018
1 parent bec8f2d commit 31dc9ab
Showing 1 changed file with 60 additions and 60 deletions.
120 changes: 60 additions & 60 deletions rcl_action/test/rcl_action/test_action_communication.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,18 +155,18 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_comm)
{
test_msgs__action__Fibonacci_Goal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_Goal_Request incoming_goal_request;
test_msgs__action__Fibonacci_Goal_Response outgoing_goal_response;
test_msgs__action__Fibonacci_Goal_Response incoming_goal_response;
test_msgs__action__Fibonacci_Goal_Request__init(&outgoing_goal_request);
test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request);
test_msgs__action__Fibonacci_Goal_Response__init(&outgoing_goal_response);
test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response);
test_msgs__action__Fibonacci_Action_Goal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_Action_Goal_Request incoming_goal_request;
test_msgs__action__Fibonacci_Action_Goal_Response outgoing_goal_response;
test_msgs__action__Fibonacci_Action_Goal_Response incoming_goal_response;
test_msgs__action__Fibonacci_Action_Goal_Request__init(&outgoing_goal_request);
test_msgs__action__Fibonacci_Action_Goal_Request__init(&incoming_goal_request);
test_msgs__action__Fibonacci_Action_Goal_Response__init(&outgoing_goal_response);
test_msgs__action__Fibonacci_Action_Goal_Response__init(&incoming_goal_response);

// Initialize goal request
init_test_uuid0(outgoing_goal_request.uuid);
outgoing_goal_request.order = 10;
outgoing_goal_request.request.order = 10;

// Send goal request with valid arguments
int64_t sequence_number;
Expand Down Expand Up @@ -203,7 +203,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
rcl_reset_error();

// Check that the goal request was received correctly
EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order);
EXPECT_EQ(outgoing_goal_request.request.order, incoming_goal_request.request.order);
rcl_reset_error();
EXPECT_TRUE(uuidcmp(outgoing_goal_request.uuid, incoming_goal_request.uuid));
rcl_reset_error();
Expand Down Expand Up @@ -262,10 +262,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
EXPECT_EQ(outgoing_goal_response.stamp.nanosec, incoming_goal_response.stamp.nanosec);
rcl_reset_error();

test_msgs__action__Fibonacci_Goal_Request__fini(&outgoing_goal_request);
test_msgs__action__Fibonacci_Goal_Request__fini(&incoming_goal_request);
test_msgs__action__Fibonacci_Goal_Response__fini(&incoming_goal_response);
test_msgs__action__Fibonacci_Goal_Response__fini(&outgoing_goal_response);
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&outgoing_goal_request);
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&incoming_goal_request);
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&incoming_goal_response);
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&outgoing_goal_response);
}


Expand Down Expand Up @@ -404,14 +404,14 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result_comm)
{
test_msgs__action__Fibonacci_Result_Request outgoing_result_request;
test_msgs__action__Fibonacci_Result_Request incoming_result_request;
test_msgs__action__Fibonacci_Result_Response outgoing_result_response;
test_msgs__action__Fibonacci_Result_Response incoming_result_response;
test_msgs__action__Fibonacci_Result_Request__init(&outgoing_result_request);
test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request);
test_msgs__action__Fibonacci_Result_Response__init(&outgoing_result_response);
test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response);
test_msgs__action__Fibonacci_Action_Result_Request outgoing_result_request;
test_msgs__action__Fibonacci_Action_Result_Request incoming_result_request;
test_msgs__action__Fibonacci_Action_Result_Response outgoing_result_response;
test_msgs__action__Fibonacci_Action_Result_Response incoming_result_response;
test_msgs__action__Fibonacci_Action_Result_Request__init(&outgoing_result_request);
test_msgs__action__Fibonacci_Action_Result_Request__init(&incoming_result_request);
test_msgs__action__Fibonacci_Action_Result_Response__init(&outgoing_result_response);
test_msgs__action__Fibonacci_Action_Result_Response__init(&incoming_result_response);

// Initialize result request
init_test_uuid0(outgoing_result_request.uuid);
Expand Down Expand Up @@ -458,11 +458,11 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result

// Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
&outgoing_result_response.sequence, 4));
outgoing_result_response.sequence.data[0] = 0;
outgoing_result_response.sequence.data[1] = 1;
outgoing_result_response.sequence.data[2] = 2;
outgoing_result_response.sequence.data[3] = 6;
&outgoing_result_response.response.sequence, 4));
outgoing_result_response.response.sequence.data[0] = 0;
outgoing_result_response.response.sequence.data[1] = 1;
outgoing_result_response.response.sequence.data[2] = 2;
outgoing_result_response.response.sequence.data[3] = 6;
outgoing_result_response.status =
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;

Expand Down Expand Up @@ -508,16 +508,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result

// Check that the result response was received correctly
EXPECT_EQ(outgoing_result_response.status, incoming_result_response.status);
ASSERT_EQ(outgoing_result_response.sequence.size, incoming_result_response.sequence.size);
ASSERT_EQ(outgoing_result_response.response.sequence.size, incoming_result_response.response.sequence.size);
EXPECT_TRUE(!memcmp(
outgoing_result_response.sequence.data,
incoming_result_response.sequence.data,
outgoing_result_response.sequence.size));

test_msgs__action__Fibonacci_Result_Request__fini(&incoming_result_request);
test_msgs__action__Fibonacci_Result_Request__fini(&outgoing_result_request);
test_msgs__action__Fibonacci_Result_Response__fini(&incoming_result_response);
test_msgs__action__Fibonacci_Result_Response__fini(&outgoing_result_response);
outgoing_result_response.response.sequence.data,
incoming_result_response.response.sequence.data,
outgoing_result_response.response.sequence.size));

test_msgs__action__Fibonacci_Action_Result_Request__fini(&incoming_result_request);
test_msgs__action__Fibonacci_Action_Result_Request__fini(&outgoing_result_request);
test_msgs__action__Fibonacci_Action_Result_Response__fini(&incoming_result_response);
test_msgs__action__Fibonacci_Action_Result_Response__fini(&outgoing_result_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
Expand Down Expand Up @@ -601,17 +601,17 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
{
test_msgs__action__Fibonacci_Feedback outgoing_feedback;
test_msgs__action__Fibonacci_Feedback incoming_feedback;
test_msgs__action__Fibonacci_Feedback__init(&outgoing_feedback);
test_msgs__action__Fibonacci_Feedback__init(&incoming_feedback);
test_msgs__action__Fibonacci_Action_Feedback outgoing_feedback;
test_msgs__action__Fibonacci_Action_Feedback incoming_feedback;
test_msgs__action__Fibonacci_Action_Feedback__init(&outgoing_feedback);
test_msgs__action__Fibonacci_Action_Feedback__init(&incoming_feedback);

// Initialize feedback
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
&outgoing_feedback.sequence, 3));
outgoing_feedback.sequence.data[0] = 0;
outgoing_feedback.sequence.data[1] = 1;
outgoing_feedback.sequence.data[2] = 2;
&outgoing_feedback.feedback.sequence, 3));
outgoing_feedback.feedback.sequence.data[0] = 0;
outgoing_feedback.feedback.sequence.data[1] = 1;
outgoing_feedback.feedback.sequence.data[2] = 2;
init_test_uuid0(outgoing_feedback.uuid);

// Publish feedback with valid arguments
Expand Down Expand Up @@ -652,14 +652,14 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba

// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(outgoing_feedback.uuid, incoming_feedback.uuid));
ASSERT_EQ(outgoing_feedback.sequence.size, incoming_feedback.sequence.size);
ASSERT_EQ(outgoing_feedback.feedback.sequence.size, incoming_feedback.feedback.sequence.size);
EXPECT_TRUE(!memcmp(
outgoing_feedback.sequence.data,
incoming_feedback.sequence.data,
outgoing_feedback.sequence.size));
outgoing_feedback.feedback.sequence.data,
incoming_feedback.feedback.sequence.data,
outgoing_feedback.feedback.sequence.size));

test_msgs__action__Fibonacci_Feedback__fini(&incoming_feedback);
test_msgs__action__Fibonacci_Feedback__fini(&outgoing_feedback);
test_msgs__action__Fibonacci_Action_Feedback__fini(&incoming_feedback);
test_msgs__action__Fibonacci_Action_Feedback__fini(&outgoing_feedback);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
Expand All @@ -671,7 +671,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal

// Initialize goal request
init_test_uuid0(outgoing_goal_request.uuid);
outgoing_goal_request.order = 10;
outgoing_goal_request.request.order = 10;
int64_t sequence_number = 1234;
rcl_ret_t ret = 0;

Expand Down Expand Up @@ -966,11 +966,11 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu

// Initialize result response
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
&outgoing_result_response.sequence, 4));
outgoing_result_response.sequence.data[0] = 0;
outgoing_result_response.sequence.data[1] = 1;
outgoing_result_response.sequence.data[2] = 2;
outgoing_result_response.sequence.data[3] = 6;
&outgoing_result_response.response.sequence, 4));
outgoing_result_response.response.sequence.data[0] = 0;
outgoing_result_response.response.sequence.data[1] = 1;
outgoing_result_response.response.sequence.data[2] = 2;
outgoing_result_response.response.sequence.data[3] = 6;
outgoing_result_response.status =
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;

Expand Down Expand Up @@ -1028,10 +1028,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed

// Initialize feedback
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
&outgoing_feedback.sequence, 3));
outgoing_feedback.sequence.data[0] = 0;
outgoing_feedback.sequence.data[1] = 1;
outgoing_feedback.sequence.data[2] = 2;
&outgoing_feedback.feedback.sequence, 3));
outgoing_feedback.feedback.sequence.data[0] = 0;
outgoing_feedback.feedback.sequence.data[1] = 1;
outgoing_feedback.feedback.sequence.data[2] = 2;
init_test_uuid0(outgoing_feedback.uuid);

// Publish feedback with null action server
Expand Down

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