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Adds action interaction tests (#352)
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* Add action_interaction_tests

* Fixed tests to work with new uuid

* Added comments for each test

* Addressed peer review comments

* Removed unnecessary rcl_reset_error calls from test_action_communication

* Addressed second part of peer review
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@sloretz
Alexis Pojomovsky authored and sloretz committed Dec 6, 2018
1 parent a30ccdf commit c5798e4
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Showing 3 changed files with 810 additions and 56 deletions.
18 changes: 9 additions & 9 deletions rcl_action/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,7 @@ if(BUILD_TESTING)

function(custom_test_c target)
ament_add_gtest(
"test_action_communication_${target_suffix}" ${ARGN}
"${target}${target_suffix}" ${ARGN}
TIMEOUT 60
APPEND_LIBRARY_DIRS "${append_library_dirs}"
ENV
Expand All @@ -115,24 +115,22 @@ if(BUILD_TESTING)
ROS_SECURITY_ROOT_DIRECTORY="${VALID_ROS_SECURITY_ROOT_DIRECTORY}"
PATH="${TEST_PATH}"
)
if(TARGET test_action_communication_${target_suffix})
target_compile_definitions(test_action_communication_${target_suffix}
if(TARGET ${target}${target_suffix})
target_compile_definitions(${target}${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
target_include_directories(test_action_communication_${target_suffix} PUBLIC
target_include_directories(${target}${target_suffix} PUBLIC
include
${rcl_INCLUDE_DIRS}
)
target_link_libraries(test_action_communication_${target_suffix}
target_link_libraries(${target}${target_suffix}
${PROJECT_NAME}
)
ament_target_dependencies(test_action_communication_${target_suffix}
ament_target_dependencies(${target}${target_suffix}
"test_msgs")
endif()
endfunction()

macro(targets)
set(VALID_ROS_SECURITY_ROOT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/test/test_security_files")

set(ENV_PATH "$ENV{PATH}")
file(TO_CMAKE_PATH "${ENV_PATH}" ENV_PATH)
set(TEST_PATH "${ENV_PATH}")
Expand All @@ -146,8 +144,10 @@ if(BUILD_TESTING)
endif()
endif()
endif()
custom_test_c(rcl_action
custom_test_c(test_action_communication
"test/rcl_action/test_action_communication.cpp")
custom_test_c(test_action_interaction
"test/rcl_action/test_action_interaction.cpp")
endmacro()

call_for_each_rmw_implementation(targets)
Expand Down
47 changes: 0 additions & 47 deletions rcl_action/test/rcl_action/test_action_communication.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,6 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_shutdown(&context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();
}

void init_test_uuid0(uint8_t * uuid)
Expand Down Expand Up @@ -174,16 +173,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
rcl_ret_t ret = rcl_action_send_goal_request(
&this->action_client, &outgoing_goal_request, &sequence_number);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));

EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_server_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -193,7 +189,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_goal_request_ready) << rcl_get_error_string().str;
EXPECT_FALSE(this->is_cancel_request_ready) << rcl_get_error_string().str;
Expand All @@ -203,13 +198,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
rmw_request_id_t request_header;
ret = rcl_action_take_goal_request(&this->action_server, &request_header, &incoming_goal_request);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that the goal request was received correctly
EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order);
rcl_reset_error();
EXPECT_TRUE(uuidcmp(outgoing_goal_request.uuid, incoming_goal_request.uuid));
rcl_reset_error();

// Initialize goal response
outgoing_goal_response.accepted = true;
Expand All @@ -220,18 +212,15 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
ret = rcl_action_send_goal_response(
&this->action_server, &request_header, &outgoing_goal_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait_set_clear(&this->wait_set);

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -243,7 +232,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
&this->is_result_response_ready);

EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_goal_response_ready);
EXPECT_FALSE(this->is_cancel_response_ready);
Expand All @@ -255,15 +243,11 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
ret = rcl_action_take_goal_response(
&this->action_client, &request_header, &incoming_goal_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that the goal response was received correctly
EXPECT_EQ(outgoing_goal_response.accepted, incoming_goal_response.accepted);
rcl_reset_error();
EXPECT_EQ(outgoing_goal_response.stamp.sec, incoming_goal_response.stamp.sec);
rcl_reset_error();
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);
Expand Down Expand Up @@ -293,15 +277,12 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
rcl_ret_t ret = rcl_action_send_cancel_request(
&this->action_client, &outgoing_cancel_request, &sequence_number);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_server_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -311,7 +292,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_cancel_request_ready);
EXPECT_FALSE(this->is_goal_request_ready);
Expand All @@ -322,7 +302,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
ret = rcl_action_take_cancel_request(
&this->action_server, &request_header, &incoming_cancel_request);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that the cancel request was received correctly
EXPECT_TRUE(uuidcmp(
Expand Down Expand Up @@ -350,18 +329,15 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
ret = rcl_action_send_cancel_response(
&this->action_server, &request_header, &outgoing_cancel_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait_set_clear(&this->wait_set);

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -372,7 +348,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_cancel_response_ready);
EXPECT_FALSE(this->is_feedback_ready);
Expand All @@ -384,7 +359,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
ret = rcl_action_take_cancel_response(
&this->action_client, &request_header, &incoming_cancel_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that the cancel response was received correctly
ASSERT_EQ(
Expand Down Expand Up @@ -425,15 +399,12 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
rcl_ret_t ret = rcl_action_send_result_request(
&this->action_client, &outgoing_result_request, &sequence_number);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_wait_set_add_action_server(&this->wait_set, &this->action_server, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_server_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -443,7 +414,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
&this->is_result_request_ready,
&this->is_goal_expired);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_result_request_ready);
EXPECT_FALSE(this->is_cancel_request_ready);
Expand All @@ -454,7 +424,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ret = rcl_action_take_result_request(
&this->action_server, &request_header, &incoming_result_request);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that the result request was received correctly
EXPECT_TRUE(uuidcmp(
Expand All @@ -475,18 +444,15 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ret = rcl_action_send_result_response(
&this->action_server, &request_header, &outgoing_result_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait_set_clear(&this->wait_set);

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -497,7 +463,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_result_response_ready);
EXPECT_FALSE(this->is_cancel_response_ready);
Expand All @@ -509,7 +474,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
ret = rcl_action_take_result_response(
&this->action_client, &request_header, &incoming_result_response);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that the result response was received correctly
EXPECT_EQ(outgoing_result_response.status, incoming_result_response.status);
Expand Down Expand Up @@ -545,23 +509,19 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status

ret = rcl_action_get_goal_status_array(&this->action_server, &status_array);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Publish status with valid arguments (one goal in array)
ret = rcl_action_publish_status(&this->action_server, &status_array.msg);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait_set_clear(&this->wait_set);

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -572,7 +532,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_status_ready);
EXPECT_FALSE(this->is_result_response_ready);
Expand All @@ -583,7 +542,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
// Take status with valid arguments (one goal in array)
ret = rcl_action_take_status(&this->action_client, &incoming_status_array);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that status was received correctly
ASSERT_EQ(status_array.msg.status_list.size, incoming_status_array.status_list.size);
Expand Down Expand Up @@ -624,16 +582,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
// Publish feedback with valid arguments
rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_wait_set_add_action_client(
&this->wait_set, &this->action_client, NULL, NULL);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_wait(&this->wait_set, RCL_S_TO_NS(10));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

ret = rcl_action_client_wait_set_get_entities_ready(
&this->wait_set,
Expand All @@ -644,7 +599,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
&this->is_cancel_response_ready,
&this->is_result_response_ready);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

EXPECT_TRUE(this->is_feedback_ready);
EXPECT_FALSE(this->is_status_ready);
Expand All @@ -655,7 +609,6 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
// Take feedback with valid arguments
ret = rcl_action_take_feedback(&this->action_client, &incoming_feedback);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
rcl_reset_error();

// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(outgoing_feedback.uuid, incoming_feedback.uuid));
Expand Down
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