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update tests to use separated action types #340

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merged 8 commits into from
Mar 12, 2019
Merged

update tests to use separated action types #340

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a8df5b5
update test to IDL-based action generation
dirk-thomas Nov 24, 2018
82d0f0a
update test to IDL-based action generation
dirk-thomas Nov 28, 2018
4ce3dc0
fix merge conflict
dirk-thomas Nov 30, 2018
9b8aea9
update new tests
dirk-thomas Nov 30, 2018
a6ed604
update action types
dirk-thomas Feb 11, 2019
41eb88f
match renamed action types
dirk-thomas Feb 12, 2019
cc4822b
style fix
dirk-thomas Feb 14, 2019
73f2a5b
update types using unique_identifier_msgs
dirk-thomas Feb 18, 2019
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212 changes: 107 additions & 105 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 @@ -156,18 +156,18 @@ 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_SendGoal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
test_msgs__action__Fibonacci_SendGoal_Response outgoing_goal_response;
test_msgs__action__Fibonacci_SendGoal_Response incoming_goal_response;
test_msgs__action__Fibonacci_SendGoal_Request__init(&outgoing_goal_request);
test_msgs__action__Fibonacci_SendGoal_Request__init(&incoming_goal_request);
test_msgs__action__Fibonacci_SendGoal_Response__init(&outgoing_goal_response);
test_msgs__action__Fibonacci_SendGoal_Response__init(&incoming_goal_response);

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

// Send goal request with valid arguments
int64_t sequence_number;
Expand Down Expand Up @@ -201,10 +201,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

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

// Initialize goal response
outgoing_goal_response.accepted = true;
Expand Down Expand Up @@ -252,10 +252,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
EXPECT_EQ(outgoing_goal_response.stamp.sec, incoming_goal_response.stamp.sec);
EXPECT_EQ(outgoing_goal_response.stamp.nanosec, incoming_goal_response.stamp.nanosec);

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_SendGoal_Request__fini(&outgoing_goal_request);
test_msgs__action__Fibonacci_SendGoal_Request__fini(&incoming_goal_request);
test_msgs__action__Fibonacci_SendGoal_Response__fini(&incoming_goal_response);
test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
}


Expand Down Expand Up @@ -385,17 +385,17 @@ 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_GetResult_Request outgoing_result_request;
test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
test_msgs__action__Fibonacci_GetResult_Response outgoing_result_response;
test_msgs__action__Fibonacci_GetResult_Response incoming_result_response;
test_msgs__action__Fibonacci_GetResult_Request__init(&outgoing_result_request);
test_msgs__action__Fibonacci_GetResult_Request__init(&incoming_result_request);
test_msgs__action__Fibonacci_GetResult_Response__init(&outgoing_result_response);
test_msgs__action__Fibonacci_GetResult_Response__init(&incoming_result_response);

// Initialize result request
init_test_uuid0(outgoing_result_request.action_goal_id.uuid);
init_test_uuid0(outgoing_result_request.goal_id.uuid);

// Send result request with valid arguments
int64_t sequence_number;
Expand Down Expand Up @@ -430,17 +430,17 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result

// Check that the result request was received correctly
EXPECT_TRUE(uuidcmp(
outgoing_result_request.action_goal_id.uuid,
incoming_result_request.action_goal_id.uuid));
outgoing_result_request.goal_id.uuid,
incoming_result_request.goal_id.uuid));

// 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.action_status =
&outgoing_result_response.result.sequence, 4));
outgoing_result_response.result.sequence.data[0] = 0;
outgoing_result_response.result.sequence.data[1] = 1;
outgoing_result_response.result.sequence.data[2] = 2;
outgoing_result_response.result.sequence.data[3] = 6;
outgoing_result_response.status =
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;

// Send result response with valid arguments
Expand Down Expand Up @@ -479,17 +479,19 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

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

test_msgs__action__Fibonacci_GetResult_Request__fini(&incoming_result_request);
test_msgs__action__Fibonacci_GetResult_Request__fini(&outgoing_result_request);
test_msgs__action__Fibonacci_GetResult_Response__fini(&incoming_result_response);
test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
Expand Down Expand Up @@ -569,18 +571,18 @@ 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_FeedbackMessage outgoing_feedback;
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
test_msgs__action__Fibonacci_FeedbackMessage__init(&outgoing_feedback);
test_msgs__action__Fibonacci_FeedbackMessage__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;
init_test_uuid0(outgoing_feedback.action_goal_id.uuid);
&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.goal_id.uuid);

// Publish feedback with valid arguments
rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback);
Expand Down Expand Up @@ -615,28 +617,28 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba

// Check that feedback was received correctly
EXPECT_TRUE(uuidcmp(
outgoing_feedback.action_goal_id.uuid,
incoming_feedback.action_goal_id.uuid));
ASSERT_EQ(outgoing_feedback.sequence.size, incoming_feedback.sequence.size);
outgoing_feedback.goal_id.uuid,
incoming_feedback.goal_id.uuid));
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_FeedbackMessage__fini(&incoming_feedback);
test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
{
test_msgs__action__Fibonacci_Goal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_Goal_Request incoming_goal_request;
test_msgs__action__Fibonacci_Goal_Request__init(&outgoing_goal_request);
test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request);
test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
test_msgs__action__Fibonacci_SendGoal_Request__init(&outgoing_goal_request);
test_msgs__action__Fibonacci_SendGoal_Request__init(&incoming_goal_request);

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

Expand Down Expand Up @@ -680,16 +682,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
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_SendGoal_Request__fini(&outgoing_goal_request);
test_msgs__action__Fibonacci_SendGoal_Request__fini(&incoming_goal_request);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_response_opts)
{
test_msgs__action__Fibonacci_Goal_Response outgoing_goal_response;
test_msgs__action__Fibonacci_Goal_Response incoming_goal_response;
test_msgs__action__Fibonacci_Goal_Response__init(&outgoing_goal_response);
test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response);
test_msgs__action__Fibonacci_SendGoal_Response outgoing_goal_response;
test_msgs__action__Fibonacci_SendGoal_Response incoming_goal_response;
test_msgs__action__Fibonacci_SendGoal_Response__init(&outgoing_goal_response);
test_msgs__action__Fibonacci_SendGoal_Response__init(&incoming_goal_response);

// Initialize goal response
outgoing_goal_response.accepted = true;
Expand Down Expand Up @@ -741,8 +743,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
rcl_reset_error();

test_msgs__action__Fibonacci_Goal_Response__fini(&incoming_goal_response);
test_msgs__action__Fibonacci_Goal_Response__fini(&outgoing_goal_response);
test_msgs__action__Fibonacci_SendGoal_Response__fini(&incoming_goal_response);
test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_request_opts)
Expand Down Expand Up @@ -868,13 +870,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_request_opts)
{
test_msgs__action__Fibonacci_Result_Request outgoing_result_request;
test_msgs__action__Fibonacci_Result_Request incoming_result_request;
test_msgs__action__Fibonacci_Result_Request__init(&outgoing_result_request);
test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request);
test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
test_msgs__action__Fibonacci_GetResult_Request__init(&outgoing_result_request);
test_msgs__action__Fibonacci_GetResult_Request__init(&incoming_result_request);

// Initialize result request
init_test_uuid0(outgoing_result_request.action_goal_id.uuid);
init_test_uuid0(outgoing_result_request.goal_id.uuid);

// Send result request with null action client
int64_t sequence_number = 1324;
Expand Down Expand Up @@ -918,25 +920,25 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();

test_msgs__action__Fibonacci_Result_Request__fini(&incoming_result_request);
test_msgs__action__Fibonacci_Result_Request__fini(&outgoing_result_request);
test_msgs__action__Fibonacci_GetResult_Request__fini(&incoming_result_request);
test_msgs__action__Fibonacci_GetResult_Request__fini(&outgoing_result_request);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_response_opts)
{
test_msgs__action__Fibonacci_Result_Response outgoing_result_response;
test_msgs__action__Fibonacci_Result_Response incoming_result_response;
test_msgs__action__Fibonacci_Result_Response__init(&outgoing_result_response);
test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response);
test_msgs__action__Fibonacci_GetResult_Response outgoing_result_response;
test_msgs__action__Fibonacci_GetResult_Response incoming_result_response;
test_msgs__action__Fibonacci_GetResult_Response__init(&outgoing_result_response);
test_msgs__action__Fibonacci_GetResult_Response__init(&incoming_result_response);

// 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.action_status =
&outgoing_result_response.result.sequence, 4));
outgoing_result_response.result.sequence.data[0] = 0;
outgoing_result_response.result.sequence.data[1] = 1;
outgoing_result_response.result.sequence.data[2] = 2;
outgoing_result_response.result.sequence.data[3] = 6;
outgoing_result_response.status =
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;

// Send result response with null action client
Expand Down Expand Up @@ -980,24 +982,24 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
rcl_reset_error();

test_msgs__action__Fibonacci_Result_Response__fini(&incoming_result_response);
test_msgs__action__Fibonacci_Result_Response__fini(&outgoing_result_response);
test_msgs__action__Fibonacci_GetResult_Response__fini(&incoming_result_response);
test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
}

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feedback_opts)
{
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_FeedbackMessage outgoing_feedback;
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
test_msgs__action__Fibonacci_FeedbackMessage__init(&outgoing_feedback);
test_msgs__action__Fibonacci_FeedbackMessage__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;
init_test_uuid0(outgoing_feedback.action_goal_id.uuid);
&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.goal_id.uuid);

// Publish feedback with null action server
rcl_ret_t ret = rcl_action_publish_feedback(nullptr, &outgoing_feedback);
Expand Down Expand Up @@ -1031,8 +1033,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
rcl_reset_error();

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

TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_status_opts)
Expand Down
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