detect_plug_test.cpp

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/*                                                                                     
 * Copyright (c) 2008, Willow Garage, Inc.                                             
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 * Author: Melonee Wise                                                                
 */


#include <ros/ros.h>
#include <gtest/gtest.h>
#include <boost/thread.hpp>
#include <actionlib/client/simple_action_client.h>
#include <pr2_plugs_msgs/DetectPlugInGripperAction.h>
#include <pr2_plugs_msgs/VisionPlugDetectionAction.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <actionlib/server/simple_action_server.h>


void spinThread()
{
  ros::spin();
}

void arm_execute(const pr2_controllers_msgs::JointTrajectoryGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction>* as)
{
  as->setSucceeded();
}

void plug_execute(const pr2_plugs_msgs::VisionPlugDetectionGoalConstPtr& goal, actionlib::SimpleActionServer<pr2_plugs_msgs::VisionPlugDetectionAction>* as)
{
  as->setSucceeded();
}


TEST(ActionServerTest, detect_plug)
{
  ros::NodeHandle n;
  actionlib::SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction> arm_server(n, "r_arm_controller/joint_trajectory_generator", boost::bind(&arm_execute, _1, &arm_server), false);
  actionlib::SimpleActionServer<pr2_plugs_msgs::VisionPlugDetectionAction> plug_server(n, "vision_plug_detection", boost::bind(&plug_execute, _1, &plug_server), false);
  arm_server.start();
  plug_server.start();

  actionlib::SimpleActionClient<pr2_plugs_msgs::DetectPlugInGripperAction> ac("detect_plug"); 

  boost::thread spin_thread(&spinThread);
  EXPECT_TRUE(ac.waitForServer(ros::Duration(15.0)));
  ros::shutdown();
  spin_thread.join();
  
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "detect_plug_tests");
  return RUN_ALL_TESTS();

}