server_goal_handle_destruction.cpp
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00034 
00036 
00037 #include <actionlib/server/action_server.h>
00038 #include <actionlib/TestAction.h>
00039 #include <actionlib/client/simple_action_client.h>
00040 #include <ros/ros.h>
00041 #include <gtest/gtest.h>
00042 
00043 namespace actionlib
00044 {
00045 
00046 class ServerGoalHandleDestructionTester
00047 {
00048 public:
00049   typedef ServerGoalHandle<TestAction> GoalHandle;
00050 
00051   ServerGoalHandleDestructionTester();
00052 
00053   ros::NodeHandle nh_;
00054   ActionServer<TestAction> * as_;
00055   GoalHandle * gh_;
00056 
00057   ~ServerGoalHandleDestructionTester();
00058   void goalCallback(GoalHandle gh);
00059 };
00060 
00061 }  // namespace actionlib
00062 
00063 using namespace actionlib;
00064 
00065 ServerGoalHandleDestructionTester::ServerGoalHandleDestructionTester()
00066 {
00067   as_ = new ActionServer<TestAction>(nh_, "reference_action", false);
00068   as_->start();
00069   as_->registerGoalCallback(boost::bind(&ServerGoalHandleDestructionTester::goalCallback, this,
00070     _1));
00071   gh_ = new GoalHandle();
00072 }
00073 
00074 ServerGoalHandleDestructionTester::~ServerGoalHandleDestructionTester()
00075 {
00076   delete as_;
00077   gh_->setAccepted();
00078   delete gh_;
00079 }
00080 
00081 void ServerGoalHandleDestructionTester::goalCallback(GoalHandle gh)
00082 {
00083   ROS_ERROR_NAMED("actionlib", "In callback");
00084   // assign to our stored goal handle
00085   *gh_ = gh;
00086 
00087   TestGoal goal = *gh.getGoal();
00088 
00089   switch (goal.goal) {
00090     case 1:
00091       gh.setAccepted();
00092       gh.setSucceeded(TestResult(), "The ref server has succeeded");
00093       break;
00094     case 2:
00095       gh.setAccepted();
00096       gh.setAborted(TestResult(), "The ref server has aborted");
00097       break;
00098     case 3:
00099       gh.setRejected(TestResult(), "The ref server has rejected");
00100       break;
00101     default:
00102       break;
00103   }
00104 
00105   ros::shutdown();
00106 }
00107 
00108 void spinner()
00109 {
00110   ros::spin();
00111 }
00112 
00113 TEST(ServerGoalHandleDestruction, destruction_test) {
00114   boost::thread spin_thread(&spinner);
00115 
00116   ServerGoalHandleDestructionTester server;
00117 
00118   SimpleActionClient<TestAction> client("reference_action", true);
00119 
00120   ROS_ERROR_NAMED("actionlib", "Waiting for server");
00121   client.waitForServer();
00122   ROS_ERROR_NAMED("actionlib", "Done waiting for server");
00123 
00124   TestGoal goal;
00125 
00126   goal.goal = 1;
00127   client.sendGoal(goal);
00128   ROS_ERROR_NAMED("actionlib", "Sending goal");
00129 
00130   spin_thread.join();
00131 }
00132 
00133 int main(int argc, char ** argv)
00134 {
00135   testing::InitGoogleTest(&argc, argv);
00136 
00137   ros::init(argc, argv, "ref_server");
00138 
00139   return RUN_ALL_TESTS();
00140 }


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Sat Feb 16 2019 03:21:28