test_ref_simple_action_server.py
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00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, 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 PKG = 'actionlib'
00029 
00030 import unittest
00031 import rospy
00032 from actionlib_msgs.msg import GoalStatus
00033 from actionlib import SimpleActionClient
00034 from actionlib import ActionClient
00035 from actionlib.msg import TestAction, TestGoal
00036 
00037 
00038 class TestRefSimpleActionServer(unittest.TestCase):
00039 
00040     def test_one(self):
00041         client = SimpleActionClient('reference_simple_action', TestAction)
00042         self.assert_(client.wait_for_server(rospy.Duration(2.0)),
00043                      'Could not connect to the action server')
00044 
00045         goal = TestGoal(1)
00046         client.send_goal(goal)
00047         self.assert_(client.wait_for_result(rospy.Duration(2.0)),
00048                      "Goal didn't finish")
00049         self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
00050 
00051         goal = TestGoal(2)
00052         client.send_goal(goal)
00053         self.assert_(client.wait_for_result(rospy.Duration(10.0)),
00054                      "Goal didn't finish")
00055         self.assertEqual(GoalStatus.ABORTED, client.get_state())
00056 
00057         goal = TestGoal(3)
00058         client.send_goal(goal)
00059         self.assert_(client.wait_for_result(rospy.Duration(10.0)),
00060                      "Goal didn't finish")
00061 
00062         # The simple server can't reject goals
00063         self.assertEqual(GoalStatus.ABORTED, client.get_state())
00064 
00065         goal = TestGoal(9)
00066         saved_feedback = {}
00067 
00068         def on_feedback(fb):
00069             rospy.loginfo("Got feedback")
00070             saved_feedback[0] = fb
00071 
00072         client.send_goal(goal, feedback_cb=on_feedback)
00073         self.assert_(client.wait_for_result(rospy.Duration(10.0)),
00074                      "Goal didn't finish")
00075         self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
00076 
00077         self.assertEqual(saved_feedback[0].feedback, 9)
00078 
00079 
00080 if __name__ == '__main__':
00081     import rostest
00082     rospy.init_node('test_ref_simple_action_server')
00083     rostest.rosrun('actionlib', 'test_simple_action_client_python', TestRefSimpleActionServer)


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Sat Feb 16 2019 03:21:28