simple_client_wait_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_wait_test)
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   SimpleClientGoalState state(SimpleClientGoalState::LOST);
00053 
00054   goal.goal = 1;
00055   state = client.sendGoalAndWait(goal, ros::Duration(10,0), ros::Duration(10,0));
00056   EXPECT_TRUE( state == SimpleClientGoalState::SUCCEEDED)
00057     << "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
00058 
00059   goal.goal = 4;
00060   state = client.sendGoalAndWait(goal, ros::Duration(2,0), ros::Duration(1,0));
00061   EXPECT_TRUE( state == SimpleClientGoalState::PREEMPTED)
00062     << "Expected [PREEMPTED], but goal state is [" << client.getState().toString() << "]";
00063 }
00064 
00065 void spinThread()
00066 {
00067   ros::NodeHandle nh;
00068   ros::spin();
00069 }
00070 
00071 int main(int argc, char **argv){
00072   testing::InitGoogleTest(&argc, argv);
00073 
00074   ros::init(argc, argv, "simple_client_test");
00075 
00076   boost::thread spin_thread(&spinThread);
00077 
00078   int result = RUN_ALL_TESTS();
00079 
00080   ros::shutdown();
00081 
00082   spin_thread.join();
00083 
00084   return result;
00085 }


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49