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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
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
00072 EXPECT_TRUE(client.getState().getText() == "The ref server has aborted");
00073
00074 client.cancelAllGoals();
00075
00076
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 }
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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 }