Serialize feedback message in feedback callback

RobotWebTools · Nov 6, 2023 · f30ecdf · f30ecdf
1 parent bf23ace
commit f30ecdf
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Showing 2 changed files with 15 additions and 8 deletions.
diff --git a/rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py b/rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py
@@ -36,6 +36,7 @@
 
 from rosbridge_library.capability import Capability
 from rosbridge_library.internal.actions import ActionClientHandler
+from rosbridge_library.internal.message_conversion import extract_values
 from rosbridge_library.protocol import Protocol
 
 
@@ -178,7 +179,7 @@ def _feedback(self, cid: str, action: str, message: dict) -> None:
         outgoing_message = {
             "op": "action_feedback",
             "action": action,
-            "values": message,
+            "values": extract_values(message.feedback),
         }
         if cid is not None:
             outgoing_message["id"] = cid

diff --git a/rosbridge_server/test/websocket/send_action_goal.test.py b/rosbridge_server/test/websocket/send_action_goal.test.py
@@ -28,7 +28,7 @@ def execute_callback(self, goal):
         for i in range(1, goal.request.order):
             feedback_msg.sequence.append(feedback_msg.sequence[i] + feedback_msg.sequence[i - 1])
             goal.publish_feedback(feedback_msg)
-            time.sleep(0.1)
+            time.sleep(0.5)
 
         goal.succeed()
         result = Fibonacci.Result()
@@ -47,7 +47,7 @@ async def test_one_call(self, node: Node, make_client):
 
         ws_client = await make_client()
         responses_future, ws_client.message_handler = expect_messages(
-            1, "WebSocket", node.get_logger()
+            5, "WebSocket", node.get_logger()
         )
         responses_future.add_done_callback(lambda _: node.executor.wake())
 
@@ -62,10 +62,16 @@ async def test_one_call(self, node: Node, make_client):
         )
 
         responses = await responses_future
-        self.assertEqual(len(responses), 1)
-        self.assertEqual(responses[0]["op"], "action_result")
-        self.assertEqual(responses[0]["action"], "/test_fibonacci_action")
-        self.assertEqual(responses[0]["values"]["result"]["sequence"], [0, 1, 1, 2, 3, 5])
-        self.assertEqual(responses[0]["result"], True)
+        expected_result = [0, 1, 1, 2, 3, 5]
+        self.assertEqual(len(responses), 5)
+
+        for idx in range(4):
+            self.assertEqual(responses[idx]["op"], "action_feedback")
+            self.assertEqual(responses[idx]["values"]["sequence"], expected_result[: idx + 3])
+
+        self.assertEqual(responses[-1]["op"], "action_result")
+        self.assertEqual(responses[-1]["action"], "/test_fibonacci_action")
+        self.assertEqual(responses[-1]["values"]["result"]["sequence"], expected_result)
+        self.assertEqual(responses[-1]["result"], True)
 
         action_server.destroy()