test_abort.cpp

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/*
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#include <memory>
#include <string>
 
#include <gtest/gtest.h>
 
#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <planner_cspace_msgs/PlannerStatus.h>
#include <ros/ros.h>
 
#include <planner_cspace/action_test_base.h>
 
class AbortTest
  : public ActionTestBase<move_base_msgs::MoveBaseAction, ACTION_TOPIC_MOVE_BASE>
{
protected:
  move_base_msgs::MoveBaseGoal createGoalInRock()
  {
    move_base_msgs::MoveBaseGoal goal;
    goal.target_pose.header.stamp = ros::Time::now();
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.pose.position.x = 1.19;
    goal.target_pose.pose.position.y = 1.90;
    goal.target_pose.pose.position.z = 0.0;
    goal.target_pose.pose.orientation.x = 0.0;
    goal.target_pose.pose.orientation.y = 0.0;
    goal.target_pose.pose.orientation.z = 0.0;
    goal.target_pose.pose.orientation.w = 1.0;
    return goal;
  }
  move_base_msgs::MoveBaseGoal createGoalInFree()
  {
    move_base_msgs::MoveBaseGoal goal;
    goal.target_pose.header.stamp = ros::Time::now();
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.pose.position.x = 2.1;
    goal.target_pose.pose.position.y = 0.45;
    goal.target_pose.pose.position.z = 0.0;
    goal.target_pose.pose.orientation.x = 0.0;
    goal.target_pose.pose.orientation.y = 0.0;
    goal.target_pose.pose.orientation.z = 1.0;
    goal.target_pose.pose.orientation.w = 0.0;
    return goal;
  }
};
 
TEST_F(AbortTest, AbortByGoalInRock)
{
  const ros::Time deadline = ros::Time::now() + ros::Duration(10);
  const ros::Duration wait(1.0);
 
  // Assure that goal is received after map in planner_3d.
  ros::Duration(0.5).sleep();
  // Send a goal which is in Rock
  move_base_->sendGoal(createGoalInRock());
  while (move_base_->getState().state_ !=
         actionlib::SimpleClientGoalState::ACTIVE)
  {
    wait.sleep();
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get active: " << move_base_->getState().toString()
        << " " << statusString();
  }
 
  // Try to replan
  while (move_base_->getState().state_ ==
         actionlib::SimpleClientGoalState::ACTIVE)
  {
    wait.sleep();
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get inactive: " << move_base_->getState().toString()
        << " " << statusString();
  }
  wait.sleep();
 
  ASSERT_TRUE(planner_status_);
 
  // Abort after exceeding max_retry_num
  ASSERT_EQ(actionlib::SimpleClientGoalState::ABORTED,
            move_base_->getState().state_);
  ASSERT_EQ(planner_cspace_msgs::PlannerStatus::PATH_NOT_FOUND,
            planner_status_->error);
 
  // Send another goal which is not in Rock
  move_base_->sendGoal(createGoalInFree());
  while (move_base_->getState().state_ !=
         actionlib::SimpleClientGoalState::ACTIVE)
  {
    wait.sleep();
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get active: " << move_base_->getState().toString()
        << " " << statusString();
  }
  while (move_base_->getState().state_ ==
         actionlib::SimpleClientGoalState::ACTIVE)
  {
    wait.sleep();
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get inactive: " << move_base_->getState().toString()
        << " " << statusString();
  }
  wait.sleep();
 
  // Succeed
  ASSERT_EQ(actionlib::SimpleClientGoalState::SUCCEEDED,
            move_base_->getState().state_);
  ASSERT_EQ(planner_cspace_msgs::PlannerStatus::GOING_WELL,
            planner_status_->error);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_abort");
 
  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}