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Add Test Case for rclcpp_action Where the Status Message is Received Before the Service Response #2781

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Add Test Case for rclcpp_action Where the Status Message is Received Before the Service Response #2781

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32 changes: 32 additions & 0 deletions rclcpp_action/test/test_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -429,6 +429,38 @@ TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks)
EXPECT_FALSE(goal_handle->is_result_aware());
}

TEST_F(TestClientAgainstServer, receive_status_before_service_response)
{
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ActionGoal good_goal;
good_goal.order = 5;
auto future_goal_handle = action_client->async_send_goal(good_goal);
// Spin the client, to send out the goals
client_executor.spin_some();
// Spin the server until a goal is received
while (goals.empty()) {
server_executor.spin_once();
}
// Set the goals to an executing state
ActionStatusMessage status_message;
for (const auto & [goal_uuid, goal] : goals) {
rclcpp_action::GoalStatus goal_status;
goal_status.goal_info.goal_id.uuid = goal.first->goal_id.uuid;
goal_status.goal_info.stamp = goal.second->stamp;
goal_status.status = rclcpp_action::GoalStatus::STATUS_EXECUTING;
status_message.status_list.push_back(goal_status);
}
status_publisher->publish(status_message);
// Spin until the client receives the goal
dual_spin_until_future_complete(future_goal_handle);
Comment on lines +456 to +457
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in this particular case, i believe that GoalResponse(accepted) and Status messages are already in the rmw implementation, and the question here is which should be taken 1st. currently, the order to take the action entities is feedback, status, goal_response, result_response and cancel_response. so that status is going to be taken and processed before goal_response.

but this order only matters when the messages are already in the queue of rmw implementation.

auto goal_handle = future_goal_handle.get();
EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_EXECUTING, goal_handle->get_status());
EXPECT_FALSE(goal_handle->is_feedback_aware());
EXPECT_FALSE(goal_handle->is_result_aware());
}

TEST_F(TestClientAgainstServer, bad_goal_handles)
{
auto action_client0 = rclcpp_action::create_client<ActionType>(client_node, action_name);
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36 changes: 36 additions & 0 deletions rclcpp_action/test/test_generic_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -468,6 +468,42 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_no_callbacks)
EXPECT_FALSE(goal_handle->is_result_aware());
}

TEST_F(TestGenericClientAgainstServer, receive_status_before_service_response)
{
auto action_generic_client = rclcpp_action::create_generic_client(
client_node,
action_name,
"test_msgs/action/Fibonacci");
ASSERT_TRUE(action_generic_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));

ActionGoal good_goal;
good_goal.order = 5;
auto future_goal_handle =
action_generic_client->async_send_goal(&good_goal, sizeof(good_goal));
// Spin the client, to send out the goals
client_executor.spin_some();
// Spin the server until a goal is received
while (goals.empty()) {
server_executor.spin_once();
}
// Set the goals to an executing state
ActionStatusMessage status_message;
for (const auto & [goal_uuid, goal] : goals) {
rclcpp_action::GoalStatus goal_status;
goal_status.goal_info.goal_id.uuid = goal.first->goal_id.uuid;
goal_status.goal_info.stamp = goal.second->stamp;
goal_status.status = rclcpp_action::GoalStatus::STATUS_EXECUTING;
status_message.status_list.push_back(goal_status);
}
status_publisher->publish(status_message);
// Spin until the client receives the goal
dual_spin_until_future_complete(future_goal_handle);
auto goal_handle = future_goal_handle.get();
EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_EXECUTING, goal_handle->get_status());
EXPECT_FALSE(goal_handle->is_feedback_aware());
EXPECT_FALSE(goal_handle->is_result_aware());
}

TEST_F(TestGenericClientAgainstServer, async_send_goal_request_no_callbacks)
{
auto action_generic_client = rclcpp_action::create_generic_client(
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