server_goal_handle_destruction.cpp
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00034 
00036 
00037 #include <actionlib/server/action_server.h>
00038 #include <actionlib/TestAction.h>
00039 #include <actionlib/client/simple_action_client.h>
00040 #include <ros/ros.h>
00041 #include <gtest/gtest.h>
00042 
00043 namespace actionlib
00044 {
00045 
00046 class ServerGoalHandleDestructionTester
00047 {
00048 public:
00049   typedef ServerGoalHandle<TestAction> GoalHandle;
00050 
00051   ServerGoalHandleDestructionTester();
00052 
00053   ros::NodeHandle nh_;
00054   ActionServer<TestAction>* as_;
00055   GoalHandle* gh_;
00056 
00057   ~ServerGoalHandleDestructionTester();
00058   void goalCallback(GoalHandle gh);
00059 };
00060 
00061 }
00062 
00063 using namespace actionlib;
00064 
00065 ServerGoalHandleDestructionTester::ServerGoalHandleDestructionTester()
00066 {
00067   as_ = new ActionServer<TestAction>(nh_, "reference_action", false);
00068   as_->start();
00069   as_->registerGoalCallback(boost::bind(&ServerGoalHandleDestructionTester::goalCallback, this, _1));
00070   gh_ = new GoalHandle();
00071 
00072 }
00073 
00074 ServerGoalHandleDestructionTester::~ServerGoalHandleDestructionTester(){
00075   delete as_;
00076   gh_->setAccepted();
00077   delete gh_;
00078 }
00079 
00080 void ServerGoalHandleDestructionTester::goalCallback(GoalHandle gh)
00081 {
00082   ROS_ERROR_NAMED("actionlib", "In callback");
00083   //assign to our stored goal handle
00084   *gh_ = gh;
00085 
00086   TestGoal goal = *gh.getGoal();
00087 
00088   switch (goal.goal)
00089   {
00090     case 1:
00091       gh.setAccepted();
00092       gh.setSucceeded(TestResult(), "The ref server has succeeded");
00093       break;
00094     case 2:
00095       gh.setAccepted();
00096       gh.setAborted(TestResult(), "The ref server has aborted");
00097       break;
00098     case 3:
00099       gh.setRejected(TestResult(), "The ref server has rejected");
00100       break;
00101     default:
00102       break;
00103   }
00104 
00105   ros::shutdown();
00106 }
00107 
00108 void spinner(){
00109   ros::spin();
00110 }
00111 
00112 TEST(ServerGoalHandleDestruction, destruction_test){
00113   boost::thread spin_thread(&spinner);
00114 
00115   ServerGoalHandleDestructionTester server;
00116 
00117   SimpleActionClient<TestAction> client("reference_action", true);
00118 
00119   ROS_ERROR_NAMED("actionlib", "Waiting for server");
00120   client.waitForServer();
00121   ROS_ERROR_NAMED("actionlib", "Done waiting for server");
00122 
00123   TestGoal goal;
00124 
00125   goal.goal = 1;
00126   client.sendGoal(goal);
00127   ROS_ERROR_NAMED("actionlib", "Sending goal");
00128 
00129   spin_thread.join();
00130 
00131 }
00132 
00133 int main(int argc, char** argv)
00134 {
00135   testing::InitGoogleTest(&argc, argv);
00136 
00137   ros::init(argc, argv, "ref_server");
00138 
00139   return RUN_ALL_TESTS();
00140 }
00141 
00142 


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