simple_client_test.cpp
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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   ros::NodeHandle n;
00045   SimpleActionClient<TestAction> client(n, "reference_action");
00046 
00047   bool started = client.waitForServer(ros::Duration(10.0));
00048   ASSERT_TRUE(started);
00049 
00050   TestGoal goal;
00051   bool finished;
00052 
00053   goal.goal = 1;
00054   // sleep a bit to make sure that all topics are properly connected to the server.
00055   ros::Duration(0.01).sleep();
00056   client.sendGoal(goal);
00057   finished = client.waitForResult(ros::Duration(10.0));
00058   ASSERT_TRUE(finished);
00059   EXPECT_TRUE( client.getState() == SimpleClientGoalState::SUCCEEDED)
00060       << "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
00061 
00062   // test that setting the text field for the status works
00063   EXPECT_TRUE(client.getState().getText() == "The ref server has succeeded");
00064 
00065   goal.goal = 2;
00066   client.sendGoal(goal);
00067   finished = client.waitForResult(ros::Duration(10.0));
00068   ASSERT_TRUE(finished);
00069   EXPECT_TRUE( client.getState() == SimpleClientGoalState::ABORTED)
00070       << "Expected [ABORTED], but goal state is [" << client.getState().toString() << "]";
00071 
00072   // test that setting the text field for the status works
00073   EXPECT_TRUE(client.getState().getText() == "The ref server has aborted");
00074 
00075   client.cancelAllGoals();
00076 
00077   // Don't need this line, but keep it as a compilation check
00078   client.cancelGoalsAtAndBeforeTime(ros::Time(1.0));
00079 }
00080 
00081 
00082 void easyDoneCallback(bool * called, const SimpleClientGoalState & state,
00083   const TestResultConstPtr &)
00084 {
00085   *called = true;
00086   EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED)
00087     << "Expected [SUCCEEDED], but goal state is [" << state.toString() << "]";
00088 }
00089 
00090 void easyOldDoneCallback(bool * called, const TerminalState & terminal_state,
00091   const TestResultConstPtr &)
00092 {
00093   *called = true;
00094   EXPECT_TRUE(terminal_state == TerminalState::SUCCEEDED)
00095     << "Expected [SUCCEEDED], but terminal state is [" << terminal_state.toString() << "]";
00096 }
00097 
00098 /* Intermittent failures #5087
00099 TEST(SimpleClient, easy_callback)
00100 {
00101   ros::NodeHandle n;
00102   SimpleActionClient<TestAction> client(n, "reference_action");
00103 
00104   bool started = client.waitForServer(ros::Duration(10.0));
00105   ASSERT_TRUE(started);
00106 
00107   TestGoal goal;
00108   bool finished;
00109 
00110   bool called = false;
00111   goal.goal = 1;
00112   SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, _1, _2);
00113   client.sendGoal(goal, func);
00114   finished = client.waitForResult(ros::Duration(10.0));
00115   ASSERT_TRUE(finished);
00116   EXPECT_TRUE(called) << "easyDoneCallback() was never called" ;
00117 }
00118 */
00119 void spinThread()
00120 {
00121   ros::NodeHandle nh;
00122   ros::spin();
00123 }
00124 
00125 int main(int argc, char ** argv)
00126 {
00127   testing::InitGoogleTest(&argc, argv);
00128 
00129   ros::init(argc, argv, "simple_client_test");
00130 
00131   boost::thread spin_thread(&spinThread);
00132 
00133   int result = RUN_ALL_TESTS();
00134 
00135   ros::shutdown();
00136 
00137   spin_thread.join();
00138 
00139   return result;
00140 }


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