Add accessors for request and uuid

ros2 · Nov 30, 2018 · a77cc11 · a77cc11
1 parent c9faf25
commit a77cc11
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Showing 2 changed files with 22 additions and 7 deletions.
diff --git a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
@@ -126,11 +126,19 @@ class ServerGoalHandle : public ServerGoalHandleBase
     on_terminal_state_(uuid_, result_msg);
   }
 
-  /// The original request message describing the goal.
-  const std::shared_ptr<const typename ACTION::Goal> goal_;
+  /// Get the original request message describing the goal.
+  const std::shared_ptr<const typename ACTION::Goal>
+  get_goal() const
+  {
+    return goal_;
+  }
 
-  /// A unique id for the goal request.
-  const std::array<uint8_t, 16> uuid_;
+  /// Get the unique identifier of the goal
+  const std::array<uint8_t, 16>
+  get_uuid() const
+  {
+    return uuid_;
+  }
 
 protected:
   ServerGoalHandle(
@@ -145,6 +153,13 @@ class ServerGoalHandle : public ServerGoalHandleBase
   {
   }
 
+  /// The original request message describing the goal.
+  const std::shared_ptr<const typename ACTION::Goal> goal_;
+
+  /// A unique id for the goal request.
+  const std::array<uint8_t, 16> uuid_;
+
+
   friend Server<ACTION>;
 
   std::function<void(const std::array<uint8_t, 16>&, std::shared_ptr<void>)> on_terminal_state_;

diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
@@ -161,8 +161,8 @@ TEST_F(TestServer, handle_execute_called)
 
   ASSERT_TRUE(received_handle);
   ASSERT_TRUE(received_handle->is_active());
-  EXPECT_EQ(uuid, received_handle->uuid_);
-  EXPECT_EQ(*request, *(received_handle->goal_));
+  EXPECT_EQ(uuid, received_handle->get_uuid());
+  EXPECT_EQ(*request, *(received_handle->get_goal()));
 }
 
 TEST_F(TestServer, handle_cancel_called)
@@ -198,7 +198,7 @@ TEST_F(TestServer, handle_cancel_called)
   send_goal_request(node, uuid);
 
   ASSERT_TRUE(received_handle);
-  EXPECT_EQ(uuid, received_handle->uuid_);
+  EXPECT_EQ(uuid, received_handle->get_uuid());
   EXPECT_FALSE(received_handle->is_cancel_request());
 
   send_cancel_request(node, uuid);