simple_client_test.cpp
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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_tests)
00044 {
00045   ros::NodeHandle n;
00046   SimpleActionClient<TestAction> client(n, "reference_action");
00047 
00048   bool started = client.waitForServer(ros::Duration(10.0));
00049   ASSERT_TRUE(started);
00050 
00051   TestGoal goal;
00052   bool finished;
00053 
00054   goal.goal = 1;
00055   client.sendGoal(goal);
00056   finished = client.waitForResult(ros::Duration(10.0));
00057   ASSERT_TRUE(finished);
00058   EXPECT_TRUE( client.getState() == SimpleClientGoalState::SUCCEEDED)
00059       << "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
00060 
00061   //test that setting the text field for the status works
00062   EXPECT_TRUE(client.getState().getText() == "The ref server has succeeded");
00063 
00064   goal.goal = 2;
00065   client.sendGoal(goal);
00066   finished = client.waitForResult(ros::Duration(10.0));
00067   ASSERT_TRUE(finished);
00068   EXPECT_TRUE( client.getState() == SimpleClientGoalState::ABORTED)
00069       << "Expected [ABORTED], but goal state is [" << client.getState().toString() << "]";
00070 
00071   //test that setting the text field for the status works
00072   EXPECT_TRUE(client.getState().getText() == "The ref server has aborted");
00073 
00074   client.cancelAllGoals();
00075 
00076   // Don't need this line, but keep it as a compilation check
00077   client.cancelGoalsAtAndBeforeTime(ros::Time(1.0));
00078 }
00079 
00080 
00081 
00082 void easyDoneCallback(bool* called, const SimpleClientGoalState& state, const TestResultConstPtr& result)
00083 {
00084   *called = true;
00085   EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED)
00086     << "Expected [SUCCEEDED], but goal state is [" << state.toString() << "]";
00087 }
00088 
00089 void easyOldDoneCallback(bool* called, const TerminalState& terminal_state, const TestResultConstPtr& result)
00090 {
00091   *called = true;
00092   EXPECT_TRUE(terminal_state == TerminalState::SUCCEEDED)
00093     << "Expected [SUCCEEDED], but terminal state is [" << terminal_state.toString() << "]";
00094 }
00095 
00096 /* Intermittent failures #5087 
00097 TEST(SimpleClient, easy_callback)
00098 {
00099   ros::NodeHandle n;
00100   SimpleActionClient<TestAction> client(n, "reference_action");
00101 
00102   bool started = client.waitForServer(ros::Duration(10.0));
00103   ASSERT_TRUE(started);
00104 
00105   TestGoal goal;
00106   bool finished;
00107 
00108   bool called = false;
00109   goal.goal = 1;
00110   SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, _1, _2);
00111   client.sendGoal(goal, func);
00112   finished = client.waitForResult(ros::Duration(10.0));
00113   ASSERT_TRUE(finished);
00114   EXPECT_TRUE(called) << "easyDoneCallback() was never called" ;
00115 }
00116 */
00117 void spinThread()
00118 {
00119   ros::NodeHandle nh;
00120   ros::spin();
00121 }
00122 
00123 int main(int argc, char **argv){
00124   testing::InitGoogleTest(&argc, argv);
00125 
00126   ros::init(argc, argv, "simple_client_test");
00127 
00128   boost::thread spin_thread(&spinThread);
00129 
00130   int result = RUN_ALL_TESTS();
00131 
00132   ros::shutdown();
00133 
00134   spin_thread.join();
00135 
00136   return result;
00137 }


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Aug 28 2015 10:04:41