simple_client_wait_test.cpp
Go to the documentation of this file.
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   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   SimpleClientGoalState state(SimpleClientGoalState::LOST);
00052 
00053   goal.goal = 1;
00054   state = client.sendGoalAndWait(goal, ros::Duration(10, 0), ros::Duration(10, 0));
00055   EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED) <<
00056     "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
00057 
00058   goal.goal = 4;
00059   state = client.sendGoalAndWait(goal, ros::Duration(2, 0), ros::Duration(1, 0));
00060   EXPECT_TRUE(state == SimpleClientGoalState::PREEMPTED) <<
00061     "Expected [PREEMPTED], but goal state is [" << client.getState().toString() << "]";
00062 }
00063 
00064 void spinThread()
00065 {
00066   ros::NodeHandle nh;
00067   ros::spin();
00068 }
00069 
00070 int main(int argc, char ** argv)
00071 {
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 }


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