simple_client_test.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/


#include <gtest/gtest.h>
#include <actionlib/TestAction.h>
#include <actionlib/client/simple_action_client.h>

using namespace actionlib;

TEST(SimpleClient, easy_tests)
{
  ros::NodeHandle n;
  SimpleActionClient<TestAction> client(n, "reference_action");

  bool started = client.waitForServer(ros::Duration(10.0));
  ASSERT_TRUE(started);

  TestGoal goal;
  bool finished;

  goal.goal = 1;
  client.sendGoal(goal);
  finished = client.waitForResult(ros::Duration(10.0));
  ASSERT_TRUE(finished);
  EXPECT_TRUE( client.getState() == SimpleClientGoalState::SUCCEEDED)
      << "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";

  //test that setting the text field for the status works
  EXPECT_TRUE(client.getState().getText() == "The ref server has succeeded");

  goal.goal = 2;
  client.sendGoal(goal);
  finished = client.waitForResult(ros::Duration(10.0));
  ASSERT_TRUE(finished);
  EXPECT_TRUE( client.getState() == SimpleClientGoalState::ABORTED)
      << "Expected [ABORTED], but goal state is [" << client.getState().toString() << "]";

  //test that setting the text field for the status works
  EXPECT_TRUE(client.getState().getText() == "The ref server has aborted");

  client.cancelAllGoals();

  // Don't need this line, but keep it as a compilation check
  client.cancelGoalsAtAndBeforeTime(ros::Time(1.0));
}



void easyDoneCallback(bool* called, const SimpleClientGoalState& state, const TestResultConstPtr& result)
{
  *called = true;
  EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED)
    << "Expected [SUCCEEDED], but goal state is [" << state.toString() << "]";
}

void easyOldDoneCallback(bool* called, const TerminalState& terminal_state, const TestResultConstPtr& result)
{
  *called = true;
  EXPECT_TRUE(terminal_state == TerminalState::SUCCEEDED)
    << "Expected [SUCCEEDED], but terminal state is [" << terminal_state.toString() << "]";
}

/* Intermittent failures #5087 
TEST(SimpleClient, easy_callback)
{
  ros::NodeHandle n;
  SimpleActionClient<TestAction> client(n, "reference_action");

  bool started = client.waitForServer(ros::Duration(10.0));
  ASSERT_TRUE(started);

  TestGoal goal;
  bool finished;

  bool called = false;
  goal.goal = 1;
  SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, _1, _2);
  client.sendGoal(goal, func);
  finished = client.waitForResult(ros::Duration(10.0));
  ASSERT_TRUE(finished);
  EXPECT_TRUE(called) << "easyDoneCallback() was never called" ;
}
*/
void spinThread()
{
  ros::NodeHandle nh;
  ros::spin();
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);

  ros::init(argc, argv, "simple_client_test");

  boost::thread spin_thread(&spinThread);

  int result = RUN_ALL_TESTS();

  ros::shutdown();

  spin_thread.join();

  return result;
}