00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Author: Melonee Wise 00030 */ 00031 00032 #include <ros/ros.h> 00033 #include <gtest/gtest.h> 00034 #include <boost/thread.hpp> 00035 #include <pr2_plugs_msgs/VisionOutletDetectionAction.h> 00036 #include <pr2_plugs_msgs/VisionPlugDetectionAction.h> 00037 00038 #include <actionlib/client/simple_action_client.h> 00039 #include <actionlib/server/simple_action_server.h> 00040 00041 void spinThread() 00042 { 00043 ros::spin(); 00044 } 00045 00046 TEST(ActionServerTest, vision_plug_detection) 00047 { 00048 ros::NodeHandle n; 00049 boost::thread spin_thread(&spinThread); 00050 00051 actionlib::SimpleActionClient<pr2_plugs_msgs::VisionPlugDetectionAction> ac("vision_plug_detection"); 00052 pr2_plugs_msgs::VisionPlugDetectionGoal goal; 00053 goal.prior.header.stamp = ros::Time::now(); 00054 goal.prior.header.frame_id = "base_link"; 00055 goal.origin_on_right = false; 00056 goal.camera_name = "l_forearm_cam"; 00057 00058 ASSERT_TRUE(ac.waitForServer(ros::Duration(100.0))); 00059 00060 ac.sendGoal(goal); 00061 ac.waitForResult(); 00062 EXPECT_TRUE(ac.getState() == actionlib::SimpleClientGoalState::ABORTED); 00063 ros::shutdown(); 00064 spin_thread.join(); 00065 00066 } 00067 00068 TEST(ActionServerTest, vision_outlet_detection) 00069 { 00070 ros::NodeHandle n; 00071 boost::thread spin_thread(&spinThread); 00072 00073 actionlib::SimpleActionClient<pr2_plugs_msgs::VisionOutletDetectionAction> ac("vision_outlet_detection"); 00074 pr2_plugs_msgs::VisionOutletDetectionGoal goal; 00075 goal.prior.header.stamp = ros::Time::now(); 00076 goal.prior.header.frame_id = "base_link"; 00077 goal.camera_name = "l_forearm_cam"; 00078 00079 ASSERT_TRUE(ac.waitForServer(ros::Duration(100.0))); 00080 00081 ac.sendGoal(goal); 00082 ac.waitForResult(); 00083 EXPECT_TRUE(ac.getState() == actionlib::SimpleClientGoalState::ABORTED); 00084 ros::shutdown(); 00085 spin_thread.join(); 00086 00087 } 00088 00089 00090 int main(int argc, char **argv){ 00091 testing::InitGoogleTest(&argc, argv); 00092 ros::init(argc, argv, "vision_detect_outlet_and_plug_test"); 00093 return RUN_ALL_TESTS(); 00094 00095 } 00096