update tests to use separated action types by dirk-thomas · Pull Request #340 · ros2/rcl

dirk-thomas · 2018-11-24T17:29:08Z

jacobperron · 2019-02-14T18:53:56Z

rcl_action/test/rcl_action/test_action_communication.cpp

  // 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);


I would have expected this to be outgoing_goal_request.goal_id.uuid, as outgoing_goal_request.action_goal_id was of type unique_identifer_msgs/UUID.

https://github.com/ros2/rosidl/blob/7c5c7d3af98fb8f5fd8ae9112ee278d21f899df1/rosidl_adapter/rosidl_adapter/parser.py#L888

The referenced change has landed a long time after the IDL branches were created. So atm this branch uses a uint8[16] (see https://github.com/ros2/rosidl/blob/6c44fd023b5503e174bafaeee2544b063fd654e6/rosidl_parser/rosidl_parser/definition.py#L505).

This certainly needs to be updated to keep using the uuid message.

Sorry for jumping into the discussion, and this is absolutely tangential to the IDL work, but IMHO only a small portion of the implementation should need to know about the uuid field in a goal_id, while the rest could just use goal_id as an opaque entity.

I agree. But I believe in this case the code should know about the UUID (or uint8[16]) since it is setting it to a known value.

Currently, client libraries rely on the knowledge that a goal ID is a UUID for tracking goal handles, e.g.

https://github.com/ros2/rclcpp/blob/10d7b7c72bc243e4e6da0546f9d17e39460df55c/rclcpp_action/include/rclcpp_action/types.hpp#L32

https://github.com/ros2/rclcpp/blob/10d7b7c72bc243e4e6da0546f9d17e39460df55c/rclcpp_action/include/rclcpp_action/client.hpp#L321

IMO ideally, we could limit the heavy usage of UUIDs to rcl_action and try to keep most of the goal tracking logic abstracted there. I've created an feature request as a better venue for this discussion: #389

Significant changes since initial review

jacobperron

LGTM with green CI

Increasing version of package(s) in repository `rcl` to `0.7.0-3`: - upstream repository: https://github.com/ros2/rcl.git - release repository: https://github.com/ros2-gbp/rcl-release.git - file: `dashing/distribution.yaml` - bloom version: `0.8.0` - previous version for package: `0.7.0-2` ## rcl ``` * Added more test cases for graph API + fix bug. (#404 <ros2/rcl#404>) * Fixed missing include. (#413 <ros2/rcl#413>) * Updated to use pedantic. (#412 <ros2/rcl#412>) * Added function to get publisher actual qos settings. (#406 <ros2/rcl#406>) * Refactored graph API docs. (#401 <ros2/rcl#401>) * Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>) * Fixed regression around fully qualified node name. (#402 <ros2/rcl#402>) * Added function rcl_names_and_types_init. (#403 <ros2/rcl#403>) * Fixed uninitialize sequence number of client. (#395 <ros2/rcl#395>) * Added launch along with launch_testing as test dependencies. (#393 <ros2/rcl#393>) * Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>) * Updated to split test_token to avoid compiler note. (#392 <ros2/rcl#392>) * Dropped legacy launch API usage. (#387 <ros2/rcl#387>) * Improved security directory lookup. (#332 <ros2/rcl#332>) * Enforce non-null argv values on rcl_init(). (#388 <ros2/rcl#388>) * Removed incorrect argument documentation. (#361 <ros2/rcl#361>) * Changed error to warning for multiple loggers. (#384 <ros2/rcl#384>) * Added rcl_node_get_fully_qualified_name. (#255 <ros2/rcl#255>) * Updated rcl_remap_t to use the PIMPL pattern. (#377 <ros2/rcl#377>) * Fixed documentation typo. (#376 <ros2/rcl#376>) * Removed test circumvention now that a bug is fixed in rmw_opensplice. (#368 <ros2/rcl#368>) * Updated to pass context to wait set, and fini rmw context. (#373 <ros2/rcl#373>) * Updated to publish logs to Rosout. (#350 <ros2/rcl#350>) * Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno ``` ## rcl_action ``` * Added Action graph API (#411 <ros2/rcl#411>) * Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>) * Fixed typo in Doxyfile. (#398 <ros2/rcl#398>) * Updated tests to use separated action types. (#340 <ros2/rcl#340>) * Fixed minor documentation issues. (#397 <ros2/rcl#397>) * Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>) * Fixed rcl_action documentation. (#380 <ros2/rcl#380>) * Removed now unused test executable . (#382 <ros2/rcl#382>) * Removed unused action server option 'clock_type'. (#382 <ros2/rcl#382>) * Set error message when there is an invalid goal transition. (#382 <ros2/rcl#382>) * Updated to pass context to wait set, and fini rmw context (#373 <ros2/rcl#373>) * Contributors: Dirk Thomas, Jacob Perron, Sachin Suresh Bhat, William Woodall, ivanpauno ``` ## rcl_lifecycle ``` * Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>) * Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>) * Contributors: Sachin Suresh Bhat, ivanpauno ``` ## rcl_yaml_param_parser ``` * Corrected bool reading from yaml files. (#415 <ros2/rcl#415>) * Added launch along with launch_testing as test dependencies. (#393 <ros2/rcl#393>) * Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>) * Contributors: Michel Hidalgo, Sachin Suresh Bhat, ivanpauno ```

Increasing version of package(s) in repository `rcl` to `0.7.0-3`: - upstream repository: https://github.com/ros2/rcl.git - release repository: https://github.com/ros2-gbp/rcl-release.git - file: `dashing/distribution.yaml` - bloom version: `0.8.0` - previous version for package: `0.7.0-2` ## rcl ``` * Added more test cases for graph API + fix bug. (ros#404 <ros2/rcl#404>) * Fixed missing include. (ros#413 <ros2/rcl#413>) * Updated to use pedantic. (ros#412 <ros2/rcl#412>) * Added function to get publisher actual qos settings. (ros#406 <ros2/rcl#406>) * Refactored graph API docs. (ros#401 <ros2/rcl#401>) * Updated to use ament_target_dependencies where possible. (ros#400 <ros2/rcl#400>) * Fixed regression around fully qualified node name. (ros#402 <ros2/rcl#402>) * Added function rcl_names_and_types_init. (ros#403 <ros2/rcl#403>) * Fixed uninitialize sequence number of client. (ros#395 <ros2/rcl#395>) * Added launch along with launch_testing as test dependencies. (ros#393 <ros2/rcl#393>) * Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>) * Updated to split test_token to avoid compiler note. (ros#392 <ros2/rcl#392>) * Dropped legacy launch API usage. (ros#387 <ros2/rcl#387>) * Improved security directory lookup. (ros#332 <ros2/rcl#332>) * Enforce non-null argv values on rcl_init(). (ros#388 <ros2/rcl#388>) * Removed incorrect argument documentation. (ros#361 <ros2/rcl#361>) * Changed error to warning for multiple loggers. (ros#384 <ros2/rcl#384>) * Added rcl_node_get_fully_qualified_name. (ros#255 <ros2/rcl#255>) * Updated rcl_remap_t to use the PIMPL pattern. (ros#377 <ros2/rcl#377>) * Fixed documentation typo. (ros#376 <ros2/rcl#376>) * Removed test circumvention now that a bug is fixed in rmw_opensplice. (ros#368 <ros2/rcl#368>) * Updated to pass context to wait set, and fini rmw context. (ros#373 <ros2/rcl#373>) * Updated to publish logs to Rosout. (ros#350 <ros2/rcl#350>) * Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno ``` ## rcl_action ``` * Added Action graph API (ros#411 <ros2/rcl#411>) * Updated to use ament_target_dependencies where possible. (ros#400 <ros2/rcl#400>) * Fixed typo in Doxyfile. (ros#398 <ros2/rcl#398>) * Updated tests to use separated action types. (ros#340 <ros2/rcl#340>) * Fixed minor documentation issues. (ros#397 <ros2/rcl#397>) * Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>) * Fixed rcl_action documentation. (ros#380 <ros2/rcl#380>) * Removed now unused test executable . (ros#382 <ros2/rcl#382>) * Removed unused action server option 'clock_type'. (ros#382 <ros2/rcl#382>) * Set error message when there is an invalid goal transition. (ros#382 <ros2/rcl#382>) * Updated to pass context to wait set, and fini rmw context (ros#373 <ros2/rcl#373>) * Contributors: Dirk Thomas, Jacob Perron, Sachin Suresh Bhat, William Woodall, ivanpauno ``` ## rcl_lifecycle ``` * Updated to use ament_target_dependencies where possible. (ros#400 <ros2/rcl#400>) * Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>) * Contributors: Sachin Suresh Bhat, ivanpauno ``` ## rcl_yaml_param_parser ``` * Corrected bool reading from yaml files. (ros#415 <ros2/rcl#415>) * Added launch along with launch_testing as test dependencies. (ros#393 <ros2/rcl#393>) * Set symbol visibility to hidden for rcl. (ros#391 <ros2/rcl#391>) * Contributors: Michel Hidalgo, Sachin Suresh Bhat, ivanpauno ```

dirk-thomas added the in progress Actively being worked on (Kanban column) label Nov 24, 2018

dirk-thomas self-assigned this Nov 24, 2018

dirk-thomas added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Nov 26, 2018

dirk-thomas force-pushed the idl-stage-7 branch 2 times, most recently from 31dc9ab to 9b32a2a Compare December 1, 2018 02:31

jacobperron previously approved these changes Dec 4, 2018

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dirk-thomas force-pushed the idl-stage-7 branch from 9b32a2a to 7870544 Compare December 4, 2018 21:24

dirk-thomas force-pushed the idl-stage-7 branch from 4ae4fa4 to 60439e2 Compare February 5, 2019 21:12

dirk-thomas mentioned this pull request Feb 12, 2019

Migrate to IDL ros2/rosidl#346

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dirk-thomas force-pushed the idl-stage-7 branch from 16b93d7 to d77b0be Compare February 12, 2019 21:06

jacobperron reviewed Feb 14, 2019

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dirk-thomas added in progress Actively being worked on (Kanban column) and removed in review Waiting for review (Kanban column) labels Feb 15, 2019

jacobperron approved these changes Feb 19, 2019

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dirk-thomas changed the title ~~update test to IDL-based action generation~~ update tests to use separated action types Feb 19, 2019

dirk-thomas added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Feb 21, 2019

dirk-thomas force-pushed the idl-stage-7 branch 2 times, most recently from f94feb4 to 4b89cf4 Compare March 4, 2019 18:14

dirk-thomas force-pushed the idl-stage-7 branch from 4b89cf4 to 6591343 Compare March 7, 2019 23:05

dirk-thomas added 8 commits March 9, 2019 21:14

update test to IDL-based action generation

a8df5b5

update test to IDL-based action generation

82d0f0a

fix merge conflict

4ce3dc0

update new tests

9b8aea9

update action types

a6ed604

match renamed action types

41eb88f

style fix

cc4822b

update types using unique_identifier_msgs

73f2a5b

dirk-thomas force-pushed the idl-stage-7 branch from 6591343 to 73f2a5b Compare March 10, 2019 05:15

dirk-thomas merged commit 756b065 into master Mar 12, 2019

dirk-thomas deleted the idl-stage-7 branch March 12, 2019 04:12

dirk-thomas removed the in review Waiting for review (Kanban column) label Mar 12, 2019

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update tests to use separated action types#340

update tests to use separated action types#340
dirk-thomas merged 8 commits intomasterfrom
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dirk-thomas commented Nov 24, 2018 •

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dirk-thomas commented Nov 24, 2018 •

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