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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00036 00037 #include <gtest/gtest.h> 00038 #include <actionlib/TestAction.h> 00039 #include <actionlib/client/simple_action_client.h> 00040 00041 using namespace actionlib; 00042 00043 TEST(SimpleClient, easy_wait_test) 00044 { 00045 ros::NodeHandle n; 00046 SimpleActionClient<TestAction> client(n, "reference_action"); 00047 00048 bool started = client.waitForServer(ros::Duration(10.0)); 00049 ASSERT_TRUE(started); 00050 00051 TestGoal goal; 00052 SimpleClientGoalState state(SimpleClientGoalState::LOST); 00053 00054 goal.goal = 1; 00055 state = client.sendGoalAndWait(goal, ros::Duration(10,0), ros::Duration(10,0)); 00056 EXPECT_TRUE( state == SimpleClientGoalState::SUCCEEDED) 00057 << "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]"; 00058 00059 goal.goal = 4; 00060 state = client.sendGoalAndWait(goal, ros::Duration(2,0), ros::Duration(1,0)); 00061 EXPECT_TRUE( state == SimpleClientGoalState::PREEMPTED) 00062 << "Expected [PREEMPTED], but goal state is [" << client.getState().toString() << "]"; 00063 } 00064 00065 void spinThread() 00066 { 00067 ros::NodeHandle nh; 00068 ros::spin(); 00069 } 00070 00071 int main(int argc, char **argv){ 00072 testing::InitGoogleTest(&argc, argv); 00073 00074 ros::init(argc, argv, "simple_client_test"); 00075 00076 boost::thread spin_thread(&spinThread); 00077 00078 int result = RUN_ALL_TESTS(); 00079 00080 ros::shutdown(); 00081 00082 spin_thread.join(); 00083 00084 return result; 00085 }