server_goal_handle_destruction.cpp

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#include <actionlib/server/action_server.h>
#include <actionlib/TestAction.h>
#include <actionlib/client/simple_action_client.h>
#include <ros/ros.h>
#include <gtest/gtest.h>
 
namespace actionlib
{
 
class ServerGoalHandleDestructionTester
{
public:
  typedef ServerGoalHandle<TestAction> GoalHandle;
 
  ServerGoalHandleDestructionTester();
 
  ros::NodeHandle nh_;
  ActionServer<TestAction> * as_;
  GoalHandle * gh_;
 
  ~ServerGoalHandleDestructionTester();
  void goalCallback(GoalHandle gh);
};
 
}  // namespace actionlib
 
using namespace actionlib;
 
ServerGoalHandleDestructionTester::ServerGoalHandleDestructionTester()
{
  as_ = new ActionServer<TestAction>(nh_, "reference_action", false);
  as_->start();
  as_->registerGoalCallback(boost::bind(&ServerGoalHandleDestructionTester::goalCallback, this,
    boost::placeholders::_1));
  gh_ = new GoalHandle();
}
 
ServerGoalHandleDestructionTester::~ServerGoalHandleDestructionTester()
{
  delete as_;
  gh_->setAccepted();
  delete gh_;
}
 
void ServerGoalHandleDestructionTester::goalCallback(GoalHandle gh)
{
  ROS_ERROR_NAMED("actionlib", "In callback");
  // assign to our stored goal handle
  *gh_ = gh;
 
  TestGoal goal = *gh.getGoal();
 
  switch (goal.goal) {
    case 1:
      gh.setAccepted();
      gh.setSucceeded(TestResult(), "The ref server has succeeded");
      break;
    case 2:
      gh.setAccepted();
      gh.setAborted(TestResult(), "The ref server has aborted");
      break;
    case 3:
      gh.setRejected(TestResult(), "The ref server has rejected");
      break;
    default:
      break;
  }
 
  ros::shutdown();
}
 
void spinner()
{
  ros::spin();
}
 
TEST(ServerGoalHandleDestruction, destruction_test) {
  boost::thread spin_thread(&spinner);
 
  ServerGoalHandleDestructionTester server;
 
  SimpleActionClient<TestAction> client("reference_action", true);
 
  ROS_ERROR_NAMED("actionlib", "Waiting for server");
  client.waitForServer();
  ROS_ERROR_NAMED("actionlib", "Done waiting for server");
 
  TestGoal goal;
 
  goal.goal = 1;
  client.sendGoal(goal);
  ROS_ERROR_NAMED("actionlib", "Sending goal");
 
  spin_thread.join();
}
 
int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  ros::init(argc, argv, "ref_server");
 
  return RUN_ALL_TESTS();
}