test_ref_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 
00029 PKG='actionlib'
00030 
00031 import sys
00032 import unittest
00033 import rospy
00034 from actionlib_msgs.msg import *
00035 from actionlib import SimpleActionClient
00036 from actionlib import ActionClient
00037 from actionlib.msg import TestAction, TestGoal
00038 
00039 class TestRefSimpleActionServer(unittest.TestCase):
00040 
00041     def testsimple(self):
00042         return
00043         client = ActionClient('reference_action', TestAction)
00044         self.assert_(client.wait_for_action_server_to_start(rospy.Duration(2.0)),
00045                      'Could not connect to the action server')
00046 
00047         goal = TestGoal(1)
00048         client.send_goal(goal)
00049         self.assert_(client.wait_for_goal_to_finish(rospy.Duration(2.0)),
00050                      "Goal didn't finish")
00051         self.assertEqual(GoalStatus.SUCCEEDED, client.get_terminal_state())
00052         self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
00053 
00054         goal = TestGoal(2)
00055         client.send_goal(goal)
00056         self.assert_(client.wait_for_goal_to_finish(rospy.Duration(10.0)),
00057                      "Goal didn't finish")
00058         self.assertEqual(GoalStatus.ABORTED, client.get_terminal_state())
00059         self.assertEqual(GoalStatus.ABORTED, client.get_state())
00060 
00061 
00062     def test_abort(self):
00063         client = ActionClient('reference_action', TestAction)
00064         self.assert_(client.wait_for_server(rospy.Duration(2.0)),
00065                      'Could not connect to the action server')
00066 
00067         goal_work = TestGoal(4)
00068         goal_abort = TestGoal(6)
00069         goal_feedback = TestGoal(8)
00070 
00071         g1=client.send_goal(goal_work)
00072         g2=client.send_goal(goal_work)
00073         g3=client.send_goal(goal_work)
00074         g4=client.send_goal(goal_work)
00075 
00076         rospy.sleep(0.5);
00077         self.assertEqual(g1.get_goal_status(),GoalStatus.ACTIVE) #,"Should be active")
00078         self.assertEqual(g2.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00079         self.assertEqual(g3.get_goal_status(),GoalStatus.ACTIVE,"Shoule be active")
00080         self.assertEqual(g4.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00081 
00082         g5=client.send_goal(goal_abort)
00083         rospy.sleep(0.5);
00084         self.assertEqual(g5.get_goal_status(),GoalStatus.SUCCEEDED,"Should be done")
00085 
00086         self.assertEqual(g1.get_goal_status(),GoalStatus.ABORTED,"Should be aborted")
00087         self.assertEqual(g2.get_goal_status(),GoalStatus.ABORTED,"Should be aborted")
00088         self.assertEqual(g3.get_goal_status(),GoalStatus.ABORTED,"Shoule be aborted")
00089         self.assertEqual(g4.get_goal_status(),GoalStatus.ABORTED,"Should be aborted")
00090 
00091 
00092 
00093     def test_feedback(self):
00094         client = ActionClient('reference_action', TestAction)
00095         self.assert_(client.wait_for_server(rospy.Duration(2.0)),
00096                      'Could not connect to the action server')
00097 
00098         goal_work = TestGoal(4)
00099         goal_abort = TestGoal(6)
00100         goal_feedback = TestGoal(7)
00101 
00102         rospy.logwarn("This is a hacky way to associate goals with feedback");
00103         feedback={};
00104         def update_feedback(id,g,f):
00105             feedback[id]=f;
00106 
00107         g1=client.send_goal(goal_work,feedback_cb=lambda g,f:update_feedback(0,g,f))
00108         g2=client.send_goal(goal_work,feedback_cb=lambda g,f:update_feedback(1,g,f))
00109         g3=client.send_goal(goal_work,feedback_cb=lambda g,f:update_feedback(2,g,f))
00110         g4=client.send_goal(goal_work,feedback_cb=lambda g,f:update_feedback(3,g,f))
00111 
00112         rospy.sleep(0.5);
00113         self.assertEqual(g1.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00114         self.assertEqual(g2.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00115         self.assertEqual(g3.get_goal_status(),GoalStatus.ACTIVE,"Shoule be active")
00116         self.assertEqual(g4.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00117 
00118         g5=client.send_goal(goal_feedback)
00119         rospy.sleep(0.5);
00120         self.assertEqual(g5.get_goal_status(),GoalStatus.SUCCEEDED,"Should be done")
00121 
00122 
00123         self.assertEqual(g1.get_goal_status(),GoalStatus.ACTIVE)
00124         self.assertEqual(feedback[0].feedback,4)
00125         self.assertEqual(g2.get_goal_status(),GoalStatus.ACTIVE)
00126         self.assertEqual(feedback[1].feedback,3)
00127         self.assertEqual(g3.get_goal_status(),GoalStatus.ACTIVE)
00128         self.assertEqual(feedback[2].feedback,2)
00129         self.assertEqual(g4.get_goal_status(),GoalStatus.ACTIVE)
00130         self.assertEqual(feedback[3].feedback,1)
00131 
00132         g6=client.send_goal(goal_abort)
00133         rospy.sleep(0.5);
00134 
00135 
00136     def test_result(self):
00137         client = ActionClient('reference_action', TestAction)
00138         self.assert_(client.wait_for_server(rospy.Duration(2.0)),
00139                      'Could not connect to the action server')
00140 
00141         goal_work = TestGoal(4)
00142         goal_abort = TestGoal(6)
00143         goal_result = TestGoal(8)
00144 
00145         rospy.logwarn("This is a hacky way to associate goals with feedback");
00146 
00147         g1=client.send_goal(goal_work)
00148         g2=client.send_goal(goal_work)
00149         g3=client.send_goal(goal_work)
00150         g4=client.send_goal(goal_work)
00151 
00152         rospy.sleep(0.5);
00153         self.assertEqual(g1.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00154         self.assertEqual(g2.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00155         self.assertEqual(g3.get_goal_status(),GoalStatus.ACTIVE,"Shoule be active")
00156         self.assertEqual(g4.get_goal_status(),GoalStatus.ACTIVE,"Should be active")
00157 
00158         g5=client.send_goal(goal_result)
00159         rospy.sleep(0.5);
00160         self.assertEqual(g5.get_goal_status(),GoalStatus.SUCCEEDED,"Should be done")
00161 
00162         self.assertEqual(g1.get_goal_status(),GoalStatus.SUCCEEDED)
00163         self.assertEqual(g1.get_result().result,4)
00164         self.assertEqual(g2.get_goal_status(),GoalStatus.ABORTED)
00165         self.assertEqual(g2.get_result().result,3)
00166         self.assertEqual(g3.get_goal_status(),GoalStatus.SUCCEEDED)
00167         self.assertEqual(g3.get_result().result,2)
00168         self.assertEqual(g4.get_goal_status(),GoalStatus.ABORTED)
00169         self.assertEqual(g4.get_result().result,1)
00170         g6=client.send_goal(goal_abort)
00171         rospy.sleep(0.5);
00172 
00173 
00174 
00175 
00176 
00177 if __name__ == '__main__':
00178     import rostest
00179     rospy.init_node('test_ref_simple_action_server')
00180     rostest.rosrun('actionlib', 'test_simple_action_client_python', TestRefSimpleActionServer)


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