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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_tests) 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 bool finished; 00053 00054 goal.goal = 1; 00055 client.sendGoal(goal); 00056 finished = client.waitForResult(ros::Duration(10.0)); 00057 ASSERT_TRUE(finished); 00058 EXPECT_TRUE( client.getState() == SimpleClientGoalState::SUCCEEDED) 00059 << "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]"; 00060 00061 //test that setting the text field for the status works 00062 EXPECT_TRUE(client.getState().getText() == "The ref server has succeeded"); 00063 00064 goal.goal = 2; 00065 client.sendGoal(goal); 00066 finished = client.waitForResult(ros::Duration(10.0)); 00067 ASSERT_TRUE(finished); 00068 EXPECT_TRUE( client.getState() == SimpleClientGoalState::ABORTED) 00069 << "Expected [ABORTED], but goal state is [" << client.getState().toString() << "]"; 00070 00071 //test that setting the text field for the status works 00072 EXPECT_TRUE(client.getState().getText() == "The ref server has aborted"); 00073 00074 client.cancelAllGoals(); 00075 00076 // Don't need this line, but keep it as a compilation check 00077 client.cancelGoalsAtAndBeforeTime(ros::Time(1.0)); 00078 } 00079 00080 00081 00082 void easyDoneCallback(bool* called, const SimpleClientGoalState& state, const TestResultConstPtr& result) 00083 { 00084 *called = true; 00085 EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED) 00086 << "Expected [SUCCEEDED], but goal state is [" << state.toString() << "]"; 00087 } 00088 00089 void easyOldDoneCallback(bool* called, const TerminalState& terminal_state, const TestResultConstPtr& result) 00090 { 00091 *called = true; 00092 EXPECT_TRUE(terminal_state == TerminalState::SUCCEEDED) 00093 << "Expected [SUCCEEDED], but terminal state is [" << terminal_state.toString() << "]"; 00094 } 00095 00096 /* Intermittent failures #5087 00097 TEST(SimpleClient, easy_callback) 00098 { 00099 ros::NodeHandle n; 00100 SimpleActionClient<TestAction> client(n, "reference_action"); 00101 00102 bool started = client.waitForServer(ros::Duration(10.0)); 00103 ASSERT_TRUE(started); 00104 00105 TestGoal goal; 00106 bool finished; 00107 00108 bool called = false; 00109 goal.goal = 1; 00110 SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, _1, _2); 00111 client.sendGoal(goal, func); 00112 finished = client.waitForResult(ros::Duration(10.0)); 00113 ASSERT_TRUE(finished); 00114 EXPECT_TRUE(called) << "easyDoneCallback() was never called" ; 00115 } 00116 */ 00117 void spinThread() 00118 { 00119 ros::NodeHandle nh; 00120 ros::spin(); 00121 } 00122 00123 int main(int argc, char **argv){ 00124 testing::InitGoogleTest(&argc, argv); 00125 00126 ros::init(argc, argv, "simple_client_test"); 00127 00128 boost::thread spin_thread(&spinThread); 00129 00130 int result = RUN_ALL_TESTS(); 00131 00132 ros::shutdown(); 00133 00134 spin_thread.join(); 00135 00136 return result; 00137 }