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dirk-thomasdirk-thomas
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match renamed action types
1 parent f1e8c01 commit d77b0be

2 files changed

Lines changed: 169 additions & 169 deletions

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‎rcl_action/test/rcl_action/test_action_communication.cpp‎

Lines changed: 90 additions & 90 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_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);
159+
test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
160+
test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
161+
test_msgs__action__Fibonacci_SendGoal_Response outgoing_goal_response;
162+
test_msgs__action__Fibonacci_SendGoal_Response incoming_goal_response;
163+
test_msgs__action__Fibonacci_SendGoal_Request__init(&outgoing_goal_request);
164+
test_msgs__action__Fibonacci_SendGoal_Request__init(&incoming_goal_request);
165+
test_msgs__action__Fibonacci_SendGoal_Response__init(&outgoing_goal_response);
166+
test_msgs__action__Fibonacci_SendGoal_Response__init(&incoming_goal_response);
167167

168168
// Initialize goal request
169-
init_test_uuid0(outgoing_goal_request.uuid);
170-
outgoing_goal_request.request.order = 10;
169+
init_test_uuid0(outgoing_goal_request.goal_id);
170+
outgoing_goal_request.goal.order = 10;
171171

172172
// Send goal request with valid arguments
173173
int64_t sequence_number;
@@ -201,10 +201,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
201201
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
202202

203203
// Check that the goal request was received correctly
204-
EXPECT_EQ(outgoing_goal_request.request.order, incoming_goal_request.request.order);
204+
EXPECT_EQ(outgoing_goal_request.goal.order, incoming_goal_request.goal.order);
205205
EXPECT_TRUE(uuidcmp(
206-
outgoing_goal_request.uuid,
207-
incoming_goal_request.uuid));
206+
outgoing_goal_request.goal_id,
207+
incoming_goal_request.goal_id));
208208

209209
// Initialize goal response
210210
outgoing_goal_response.accepted = true;
@@ -252,10 +252,10 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_goal_c
252252
EXPECT_EQ(outgoing_goal_response.stamp.sec, incoming_goal_response.stamp.sec);
253253
EXPECT_EQ(outgoing_goal_response.stamp.nanosec, incoming_goal_response.stamp.nanosec);
254254

255-
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&outgoing_goal_request);
256-
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&incoming_goal_request);
257-
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&incoming_goal_response);
258-
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&outgoing_goal_response);
255+
test_msgs__action__Fibonacci_SendGoal_Request__fini(&outgoing_goal_request);
256+
test_msgs__action__Fibonacci_SendGoal_Request__fini(&incoming_goal_request);
257+
test_msgs__action__Fibonacci_SendGoal_Response__fini(&incoming_goal_response);
258+
test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
259259
}
260260

261261

@@ -385,17 +385,17 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_cancel
385385

386386
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result_comm)
387387
{
388-
test_msgs__action__Fibonacci_Action_Result_Request outgoing_result_request;
389-
test_msgs__action__Fibonacci_Action_Result_Request incoming_result_request;
390-
test_msgs__action__Fibonacci_Action_Result_Response outgoing_result_response;
391-
test_msgs__action__Fibonacci_Action_Result_Response incoming_result_response;
392-
test_msgs__action__Fibonacci_Action_Result_Request__init(&outgoing_result_request);
393-
test_msgs__action__Fibonacci_Action_Result_Request__init(&incoming_result_request);
394-
test_msgs__action__Fibonacci_Action_Result_Response__init(&outgoing_result_response);
395-
test_msgs__action__Fibonacci_Action_Result_Response__init(&incoming_result_response);
388+
test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
389+
test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
390+
test_msgs__action__Fibonacci_GetResult_Response outgoing_result_response;
391+
test_msgs__action__Fibonacci_GetResult_Response incoming_result_response;
392+
test_msgs__action__Fibonacci_GetResult_Request__init(&outgoing_result_request);
393+
test_msgs__action__Fibonacci_GetResult_Request__init(&incoming_result_request);
394+
test_msgs__action__Fibonacci_GetResult_Response__init(&outgoing_result_response);
395+
test_msgs__action__Fibonacci_GetResult_Response__init(&incoming_result_response);
396396

397397
// Initialize result request
398-
init_test_uuid0(outgoing_result_request.uuid);
398+
init_test_uuid0(outgoing_result_request.goal_id);
399399

400400
// Send result request with valid arguments
401401
int64_t sequence_number;
@@ -430,16 +430,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
430430

431431
// Check that the result request was received correctly
432432
EXPECT_TRUE(uuidcmp(
433-
outgoing_result_request.uuid,
434-
incoming_result_request.uuid));
433+
outgoing_result_request.goal_id,
434+
incoming_result_request.goal_id));
435435

436436
// Initialize result response
437437
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
438-
&outgoing_result_response.response.sequence, 4));
439-
outgoing_result_response.response.sequence.data[0] = 0;
440-
outgoing_result_response.response.sequence.data[1] = 1;
441-
outgoing_result_response.response.sequence.data[2] = 2;
442-
outgoing_result_response.response.sequence.data[3] = 6;
438+
&outgoing_result_response.result.sequence, 4));
439+
outgoing_result_response.result.sequence.data[0] = 0;
440+
outgoing_result_response.result.sequence.data[1] = 1;
441+
outgoing_result_response.result.sequence.data[2] = 2;
442+
outgoing_result_response.result.sequence.data[3] = 6;
443443
outgoing_result_response.status =
444444
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
445445

@@ -480,16 +480,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_result
480480

481481
// Check that the result response was received correctly
482482
EXPECT_EQ(outgoing_result_response.status, incoming_result_response.status);
483-
ASSERT_EQ(outgoing_result_response.response.sequence.size, incoming_result_response.response.sequence.size);
483+
ASSERT_EQ(outgoing_result_response.result.sequence.size, incoming_result_response.result.sequence.size);
484484
EXPECT_TRUE(!memcmp(
485-
outgoing_result_response.response.sequence.data,
486-
incoming_result_response.response.sequence.data,
487-
outgoing_result_response.response.sequence.size));
488-
489-
test_msgs__action__Fibonacci_Action_Result_Request__fini(&incoming_result_request);
490-
test_msgs__action__Fibonacci_Action_Result_Request__fini(&outgoing_result_request);
491-
test_msgs__action__Fibonacci_Action_Result_Response__fini(&incoming_result_response);
492-
test_msgs__action__Fibonacci_Action_Result_Response__fini(&outgoing_result_response);
485+
outgoing_result_response.result.sequence.data,
486+
incoming_result_response.result.sequence.data,
487+
outgoing_result_response.result.sequence.size));
488+
489+
test_msgs__action__Fibonacci_GetResult_Request__fini(&incoming_result_request);
490+
test_msgs__action__Fibonacci_GetResult_Request__fini(&outgoing_result_request);
491+
test_msgs__action__Fibonacci_GetResult_Response__fini(&incoming_result_response);
492+
test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
493493
}
494494

495495
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status_comm)
@@ -569,18 +569,18 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_status
569569

570570
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedback_comm)
571571
{
572-
test_msgs__action__Fibonacci_Action_Feedback outgoing_feedback;
573-
test_msgs__action__Fibonacci_Action_Feedback incoming_feedback;
574-
test_msgs__action__Fibonacci_Action_Feedback__init(&outgoing_feedback);
575-
test_msgs__action__Fibonacci_Action_Feedback__init(&incoming_feedback);
572+
test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
573+
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
574+
test_msgs__action__Fibonacci_FeedbackMessage__init(&outgoing_feedback);
575+
test_msgs__action__Fibonacci_FeedbackMessage__init(&incoming_feedback);
576576

577577
// Initialize feedback
578578
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
579579
&outgoing_feedback.feedback.sequence, 3));
580580
outgoing_feedback.feedback.sequence.data[0] = 0;
581581
outgoing_feedback.feedback.sequence.data[1] = 1;
582582
outgoing_feedback.feedback.sequence.data[2] = 2;
583-
init_test_uuid0(outgoing_feedback.uuid);
583+
init_test_uuid0(outgoing_feedback.goal_id);
584584

585585
// Publish feedback with valid arguments
586586
rcl_ret_t ret = rcl_action_publish_feedback(&this->action_server, &outgoing_feedback);
@@ -615,28 +615,28 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_valid_feedba
615615

616616
// Check that feedback was received correctly
617617
EXPECT_TRUE(uuidcmp(
618-
outgoing_feedback.uuid,
619-
incoming_feedback.uuid));
618+
outgoing_feedback.goal_id,
619+
incoming_feedback.goal_id));
620620
ASSERT_EQ(outgoing_feedback.feedback.sequence.size, incoming_feedback.feedback.sequence.size);
621621
EXPECT_TRUE(!memcmp(
622622
outgoing_feedback.feedback.sequence.data,
623623
incoming_feedback.feedback.sequence.data,
624624
outgoing_feedback.feedback.sequence.size));
625625

626-
test_msgs__action__Fibonacci_Action_Feedback__fini(&incoming_feedback);
627-
test_msgs__action__Fibonacci_Action_Feedback__fini(&outgoing_feedback);
626+
test_msgs__action__Fibonacci_FeedbackMessage__fini(&incoming_feedback);
627+
test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
628628
}
629629

630630
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_request_opts)
631631
{
632-
test_msgs__action__Fibonacci_Action_Goal_Request outgoing_goal_request;
633-
test_msgs__action__Fibonacci_Action_Goal_Request incoming_goal_request;
634-
test_msgs__action__Fibonacci_Action_Goal_Request__init(&outgoing_goal_request);
635-
test_msgs__action__Fibonacci_Action_Goal_Request__init(&incoming_goal_request);
632+
test_msgs__action__Fibonacci_SendGoal_Request outgoing_goal_request;
633+
test_msgs__action__Fibonacci_SendGoal_Request incoming_goal_request;
634+
test_msgs__action__Fibonacci_SendGoal_Request__init(&outgoing_goal_request);
635+
test_msgs__action__Fibonacci_SendGoal_Request__init(&incoming_goal_request);
636636

637637
// Initialize goal request
638-
init_test_uuid0(outgoing_goal_request.uuid);
639-
outgoing_goal_request.request.order = 10;
638+
init_test_uuid0(outgoing_goal_request.goal_id);
639+
outgoing_goal_request.goal.order = 10;
640640
int64_t sequence_number = 1234;
641641
rcl_ret_t ret = 0;
642642

@@ -680,16 +680,16 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
680680
EXPECT_EQ(ret, RCL_RET_ACTION_SERVER_INVALID) << rcl_get_error_string().str;
681681
rcl_reset_error();
682682

683-
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&outgoing_goal_request);
684-
test_msgs__action__Fibonacci_Action_Goal_Request__fini(&incoming_goal_request);
683+
test_msgs__action__Fibonacci_SendGoal_Request__fini(&outgoing_goal_request);
684+
test_msgs__action__Fibonacci_SendGoal_Request__fini(&incoming_goal_request);
685685
}
686686

687687
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal_response_opts)
688688
{
689-
test_msgs__action__Fibonacci_Action_Goal_Response outgoing_goal_response;
690-
test_msgs__action__Fibonacci_Action_Goal_Response incoming_goal_response;
691-
test_msgs__action__Fibonacci_Action_Goal_Response__init(&outgoing_goal_response);
692-
test_msgs__action__Fibonacci_Action_Goal_Response__init(&incoming_goal_response);
689+
test_msgs__action__Fibonacci_SendGoal_Response outgoing_goal_response;
690+
test_msgs__action__Fibonacci_SendGoal_Response incoming_goal_response;
691+
test_msgs__action__Fibonacci_SendGoal_Response__init(&outgoing_goal_response);
692+
test_msgs__action__Fibonacci_SendGoal_Response__init(&incoming_goal_response);
693693

694694
// Initialize goal response
695695
outgoing_goal_response.accepted = true;
@@ -741,8 +741,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_goal
741741
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
742742
rcl_reset_error();
743743

744-
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&incoming_goal_response);
745-
test_msgs__action__Fibonacci_Action_Goal_Response__fini(&outgoing_goal_response);
744+
test_msgs__action__Fibonacci_SendGoal_Response__fini(&incoming_goal_response);
745+
test_msgs__action__Fibonacci_SendGoal_Response__fini(&outgoing_goal_response);
746746
}
747747

748748
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_cancel_request_opts)
@@ -868,13 +868,13 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_canc
868868

869869
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_request_opts)
870870
{
871-
test_msgs__action__Fibonacci_Action_Result_Request outgoing_result_request;
872-
test_msgs__action__Fibonacci_Action_Result_Request incoming_result_request;
873-
test_msgs__action__Fibonacci_Action_Result_Request__init(&outgoing_result_request);
874-
test_msgs__action__Fibonacci_Action_Result_Request__init(&incoming_result_request);
871+
test_msgs__action__Fibonacci_GetResult_Request outgoing_result_request;
872+
test_msgs__action__Fibonacci_GetResult_Request incoming_result_request;
873+
test_msgs__action__Fibonacci_GetResult_Request__init(&outgoing_result_request);
874+
test_msgs__action__Fibonacci_GetResult_Request__init(&incoming_result_request);
875875

876876
// Initialize result request
877-
init_test_uuid0(outgoing_result_request.uuid);
877+
init_test_uuid0(outgoing_result_request.goal_id);
878878

879879
// Send result request with null action client
880880
int64_t sequence_number = 1324;
@@ -918,24 +918,24 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
918918
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
919919
rcl_reset_error();
920920

921-
test_msgs__action__Fibonacci_Action_Result_Request__fini(&incoming_result_request);
922-
test_msgs__action__Fibonacci_Action_Result_Request__fini(&outgoing_result_request);
921+
test_msgs__action__Fibonacci_GetResult_Request__fini(&incoming_result_request);
922+
test_msgs__action__Fibonacci_GetResult_Request__fini(&outgoing_result_request);
923923
}
924924

925925
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_result_response_opts)
926926
{
927-
test_msgs__action__Fibonacci_Action_Result_Response outgoing_result_response;
928-
test_msgs__action__Fibonacci_Action_Result_Response incoming_result_response;
929-
test_msgs__action__Fibonacci_Action_Result_Response__init(&outgoing_result_response);
930-
test_msgs__action__Fibonacci_Action_Result_Response__init(&incoming_result_response);
927+
test_msgs__action__Fibonacci_GetResult_Response outgoing_result_response;
928+
test_msgs__action__Fibonacci_GetResult_Response incoming_result_response;
929+
test_msgs__action__Fibonacci_GetResult_Response__init(&outgoing_result_response);
930+
test_msgs__action__Fibonacci_GetResult_Response__init(&incoming_result_response);
931931

932932
// Initialize result response
933933
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
934-
&outgoing_result_response.response.sequence, 4));
935-
outgoing_result_response.response.sequence.data[0] = 0;
936-
outgoing_result_response.response.sequence.data[1] = 1;
937-
outgoing_result_response.response.sequence.data[2] = 2;
938-
outgoing_result_response.response.sequence.data[3] = 6;
934+
&outgoing_result_response.result.sequence, 4));
935+
outgoing_result_response.result.sequence.data[0] = 0;
936+
outgoing_result_response.result.sequence.data[1] = 1;
937+
outgoing_result_response.result.sequence.data[2] = 2;
938+
outgoing_result_response.result.sequence.data[3] = 6;
939939
outgoing_result_response.status =
940940
action_msgs__msg__GoalStatus__STATUS_SUCCEEDED;
941941

@@ -980,24 +980,24 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_resu
980980
EXPECT_EQ(ret, RCL_RET_ACTION_CLIENT_INVALID) << rcl_get_error_string().str;
981981
rcl_reset_error();
982982

983-
test_msgs__action__Fibonacci_Action_Result_Response__fini(&incoming_result_response);
984-
test_msgs__action__Fibonacci_Action_Result_Response__fini(&outgoing_result_response);
983+
test_msgs__action__Fibonacci_GetResult_Response__fini(&incoming_result_response);
984+
test_msgs__action__Fibonacci_GetResult_Response__fini(&outgoing_result_response);
985985
}
986986

987987
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feedback_opts)
988988
{
989-
test_msgs__action__Fibonacci_Action_Feedback outgoing_feedback;
990-
test_msgs__action__Fibonacci_Action_Feedback incoming_feedback;
991-
test_msgs__action__Fibonacci_Action_Feedback__init(&outgoing_feedback);
992-
test_msgs__action__Fibonacci_Action_Feedback__init(&incoming_feedback);
989+
test_msgs__action__Fibonacci_FeedbackMessage outgoing_feedback;
990+
test_msgs__action__Fibonacci_FeedbackMessage incoming_feedback;
991+
test_msgs__action__Fibonacci_FeedbackMessage__init(&outgoing_feedback);
992+
test_msgs__action__Fibonacci_FeedbackMessage__init(&incoming_feedback);
993993

994994
// Initialize feedback
995995
ASSERT_TRUE(rosidl_generator_c__int32__Sequence__init(
996996
&outgoing_feedback.feedback.sequence, 3));
997997
outgoing_feedback.feedback.sequence.data[0] = 0;
998998
outgoing_feedback.feedback.sequence.data[1] = 1;
999999
outgoing_feedback.feedback.sequence.data[2] = 2;
1000-
init_test_uuid0(outgoing_feedback.uuid);
1000+
init_test_uuid0(outgoing_feedback.goal_id);
10011001

10021002
// Publish feedback with null action server
10031003
rcl_ret_t ret = rcl_action_publish_feedback(nullptr, &outgoing_feedback);
@@ -1031,8 +1031,8 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_feed
10311031
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string().str;
10321032
rcl_reset_error();
10331033

1034-
test_msgs__action__Fibonacci_Action_Feedback__fini(&incoming_feedback);
1035-
test_msgs__action__Fibonacci_Action_Feedback__fini(&outgoing_feedback);
1034+
test_msgs__action__Fibonacci_FeedbackMessage__fini(&incoming_feedback);
1035+
test_msgs__action__Fibonacci_FeedbackMessage__fini(&outgoing_feedback);
10361036
}
10371037

10381038
TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_invalid_status_opts)

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