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dirk-thomasdirk-thomas
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update new tests
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‎rcl_action/test/rcl_action/test_action_communication.cpp‎

Lines changed: 60 additions & 60 deletions
Original file line numberDiff line numberDiff line change
@@ -156,18 +156,18 @@ class CLASSNAME (TestActionCommunication, RMW_IMPLEMENTATION) : public ::testing
156156

157157
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_comm)
158158
{
159-
test_msgs__action__Fibonacci_Goal_Request outgoing_goal_request;
160-
test_msgs__action__Fibonacci_Goal_Request incoming_goal_request;
161-
test_msgs__action__Fibonacci_Goal_Response outgoing_goal_response;
162-
test_msgs__action__Fibonacci_Goal_Response incoming_goal_response;
163-
test_msgs__action__Fibonacci_Goal_Request__init(&outgoing_goal_request);
164-
test_msgs__action__Fibonacci_Goal_Request__init(&incoming_goal_request);
165-
test_msgs__action__Fibonacci_Goal_Response__init(&outgoing_goal_response);
166-
test_msgs__action__Fibonacci_Goal_Response__init(&incoming_goal_response);
159+
test_msgs__action__Fibonacci_Action_Goal_Request outgoing_goal_request;
160+
test_msgs__action__Fibonacci_Action_Goal_Request incoming_goal_request;
161+
test_msgs__action__Fibonacci_Action_Goal_Response outgoing_goal_response;
162+
test_msgs__action__Fibonacci_Action_Goal_Response incoming_goal_response;
163+
test_msgs__action__Fibonacci_Action_Goal_Request__init(&outgoing_goal_request);
164+
test_msgs__action__Fibonacci_Action_Goal_Request__init(&incoming_goal_request);
165+
test_msgs__action__Fibonacci_Action_Goal_Response__init(&outgoing_goal_response);
166+
test_msgs__action__Fibonacci_Action_Goal_Response__init(&incoming_goal_response);
167167

168168
// Initialize goal request
169169
init_test_uuid0(outgoing_goal_request.uuid);
170-
outgoing_goal_request.order = 10;
170+
outgoing_goal_request.request.order = 10;
171171

172172
// Send goal request with valid arguments
173173
int64_t sequence_number;
@@ -206,7 +206,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
206206
rcl_reset_error();
207207

208208
// Check that the goal request was received correctly
209-
EXPECT_EQ(outgoing_goal_request.order, incoming_goal_request.order);
209+
EXPECT_EQ(outgoing_goal_request.request.order, incoming_goal_request.request.order);
210210
rcl_reset_error();
211211
EXPECT_TRUE(uuidcmp(outgoing_goal_request.uuid, incoming_goal_request.uuid));
212212
rcl_reset_error();
@@ -265,10 +265,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
265265
EXPECT_EQ(outgoing_goal_response.stamp.nanosec, incoming_goal_response.stamp.nanosec);
266266
rcl_reset_error();
267267

268-
test_msgs__action__Fibonacci_Goal_Request__fini(&outgoing_goal_request);
269-
test_msgs__action__Fibonacci_Goal_Request__fini(&incoming_goal_request);
270-
test_msgs__action__Fibonacci_Goal_Response__fini(&incoming_goal_response);
271-
test_msgs__action__Fibonacci_Goal_Response__fini(&outgoing_goal_response);
268+
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&outgoing_goal_request);
269+
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&incoming_goal_request);
270+
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&incoming_goal_response);
271+
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&outgoing_goal_response);
272272
}
273273

274274

@@ -408,14 +408,14 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
408408

409409
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result_comm)
410410
{
411-
test_msgs__action__Fibonacci_Result_Request outgoing_result_request;
412-
test_msgs__action__Fibonacci_Result_Request incoming_result_request;
413-
test_msgs__action__Fibonacci_Result_Response outgoing_result_response;
414-
test_msgs__action__Fibonacci_Result_Response incoming_result_response;
415-
test_msgs__action__Fibonacci_Result_Request__init(&outgoing_result_request);
416-
test_msgs__action__Fibonacci_Result_Request__init(&incoming_result_request);
417-
test_msgs__action__Fibonacci_Result_Response__init(&outgoing_result_response);
418-
test_msgs__action__Fibonacci_Result_Response__init(&incoming_result_response);
411+
test_msgs__action__Fibonacci_Action_Result_Request outgoing_result_request;
412+
test_msgs__action__Fibonacci_Action_Result_Request incoming_result_request;
413+
test_msgs__action__Fibonacci_Action_Result_Response outgoing_result_response;
414+
test_msgs__action__Fibonacci_Action_Result_Response incoming_result_response;
415+
test_msgs__action__Fibonacci_Action_Result_Request__init(&outgoing_result_request);
416+
test_msgs__action__Fibonacci_Action_Result_Request__init(&incoming_result_request);
417+
test_msgs__action__Fibonacci_Action_Result_Response__init(&outgoing_result_response);
418+
test_msgs__action__Fibonacci_Action_Result_Response__init(&incoming_result_response);
419419

420420
// Initialize result request
421421
init_test_uuid0(outgoing_result_request.uuid);
@@ -463,11 +463,11 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
463463

464464
// Initialize result response
465465
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
466-
&outgoing_result_response.sequence, 4));
467-
outgoing_result_response.sequence.data[0] = 0;
468-
outgoing_result_response.sequence.data[1] = 1;
469-
outgoing_result_response.sequence.data[2] = 2;
470-
outgoing_result_response.sequence.data[3] = 6;
466+
&outgoing_result_response.response.sequence, 4));
467+
outgoing_result_response.response.sequence.data[0] = 0;
468+
outgoing_result_response.response.sequence.data[1] = 1;
469+
outgoing_result_response.response.sequence.data[2] = 2;
470+
outgoing_result_response.response.sequence.data[3] = 6;
471471
outgoing_result_response.status =
472472
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
473473

@@ -513,16 +513,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
513513

514514
// Check that the result response was received correctly
515515
EXPECT_EQ(outgoing_result_response.status, incoming_result_response.status);
516-
ASSERT_EQ(outgoing_result_response.sequence.size, incoming_result_response.sequence.size);
516+
ASSERT_EQ(outgoing_result_response.response.sequence.size, incoming_result_response.response.sequence.size);
517517
EXPECT_TRUE(!memcmp(
518-
outgoing_result_response.sequence.data,
519-
incoming_result_response.sequence.data,
520-
outgoing_result_response.sequence.size));
521-
522-
test_msgs__action__Fibonacci_Result_Request__fini(&incoming_result_request);
523-
test_msgs__action__Fibonacci_Result_Request__fini(&outgoing_result_request);
524-
test_msgs__action__Fibonacci_Result_Response__fini(&incoming_result_response);
525-
test_msgs__action__Fibonacci_Result_Response__fini(&outgoing_result_response);
518+
outgoing_result_response.response.sequence.data,
519+
incoming_result_response.response.sequence.data,
520+
outgoing_result_response.response.sequence.size));
521+
522+
test_msgs__action__Fibonacci_Action_Result_Request__fini(&incoming_result_request);
523+
test_msgs__action__Fibonacci_Action_Result_Request__fini(&outgoing_result_request);
524+
test_msgs__action__Fibonacci_Action_Result_Response__fini(&incoming_result_response);
525+
test_msgs__action__Fibonacci_Action_Result_Response__fini(&outgoing_result_response);
526526
}
527527

528528
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
@@ -607,17 +607,17 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
607607

608608
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
609609
{
610-
test_msgs__action__Fibonacci_Feedback outgoing_feedback;
611-
test_msgs__action__Fibonacci_Feedback incoming_feedback;
612-
test_msgs__action__Fibonacci_Feedback__init(&outgoing_feedback);
613-
test_msgs__action__Fibonacci_Feedback__init(&incoming_feedback);
610+
test_msgs__action__Fibonacci_Action_Feedback outgoing_feedback;
611+
test_msgs__action__Fibonacci_Action_Feedback incoming_feedback;
612+
test_msgs__action__Fibonacci_Action_Feedback__init(&outgoing_feedback);
613+
test_msgs__action__Fibonacci_Action_Feedback__init(&incoming_feedback);
614614

615615
// Initialize feedback
616616
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
617-
&outgoing_feedback.sequence, 3));
618-
outgoing_feedback.sequence.data[0] = 0;
619-
outgoing_feedback.sequence.data[1] = 1;
620-
outgoing_feedback.sequence.data[2] = 2;
617+
&outgoing_feedback.feedback.sequence, 3));
618+
outgoing_feedback.feedback.sequence.data[0] = 0;
619+
outgoing_feedback.feedback.sequence.data[1] = 1;
620+
outgoing_feedback.feedback.sequence.data[2] = 2;
621621
init_test_uuid0(outgoing_feedback.uuid);
622622

623623
// Publish feedback with valid arguments
@@ -658,14 +658,14 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
658658

659659
// Check that feedback was received correctly
660660
EXPECT_TRUE(uuidcmp(outgoing_feedback.uuid, incoming_feedback.uuid));
661-
ASSERT_EQ(outgoing_feedback.sequence.size, incoming_feedback.sequence.size);
661+
ASSERT_EQ(outgoing_feedback.feedback.sequence.size, incoming_feedback.feedback.sequence.size);
662662
EXPECT_TRUE(!memcmp(
663-
outgoing_feedback.sequence.data,
664-
incoming_feedback.sequence.data,
665-
outgoing_feedback.sequence.size));
663+
outgoing_feedback.feedback.sequence.data,
664+
incoming_feedback.feedback.sequence.data,
665+
outgoing_feedback.feedback.sequence.size));
666666

667-
test_msgs__action__Fibonacci_Feedback__fini(&incoming_feedback);
668-
test_msgs__action__Fibonacci_Feedback__fini(&outgoing_feedback);
667+
test_msgs__action__Fibonacci_Action_Feedback__fini(&incoming_feedback);
668+
test_msgs__action__Fibonacci_Action_Feedback__fini(&outgoing_feedback);
669669
}
670670

671671
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
@@ -677,7 +677,7 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
677677

678678
// Initialize goal request
679679
init_test_uuid0(outgoing_goal_request.uuid);
680-
outgoing_goal_request.order = 10;
680+
outgoing_goal_request.request.order = 10;
681681
int64_t sequence_number = 1234;
682682
rcl_ret_t ret = 0;
683683

@@ -972,11 +972,11 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
972972

973973
// Initialize result response
974974
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
975-
&outgoing_result_response.sequence, 4));
976-
outgoing_result_response.sequence.data[0] = 0;
977-
outgoing_result_response.sequence.data[1] = 1;
978-
outgoing_result_response.sequence.data[2] = 2;
979-
outgoing_result_response.sequence.data[3] = 6;
975+
&outgoing_result_response.response.sequence, 4));
976+
outgoing_result_response.response.sequence.data[0] = 0;
977+
outgoing_result_response.response.sequence.data[1] = 1;
978+
outgoing_result_response.response.sequence.data[2] = 2;
979+
outgoing_result_response.response.sequence.data[3] = 6;
980980
outgoing_result_response.status =
981981
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
982982

@@ -1034,10 +1034,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed
10341034

10351035
// Initialize feedback
10361036
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
1037-
&outgoing_feedback.sequence, 3));
1038-
outgoing_feedback.sequence.data[0] = 0;
1039-
outgoing_feedback.sequence.data[1] = 1;
1040-
outgoing_feedback.sequence.data[2] = 2;
1037+
&outgoing_feedback.feedback.sequence, 3));
1038+
outgoing_feedback.feedback.sequence.data[0] = 0;
1039+
outgoing_feedback.feedback.sequence.data[1] = 1;
1040+
outgoing_feedback.feedback.sequence.data[2] = 2;
10411041
init_test_uuid0(outgoing_feedback.uuid);
10421042

10431043
// Publish feedback with null action server

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