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   ros::NodeHandle n;
00045   SimpleActionClient<TestAction> client(n, "reference_action");
00046 
00047   bool started = client.waitForServer(ros::Duration(10.0));
00048   ASSERT_TRUE(started);
00049 
00050   TestGoal goal;
00051   SimpleClientGoalState state(SimpleClientGoalState::LOST);
00052 
00053   goal.goal = 1;
00054   state = client.sendGoalAndWait(goal, ros::Duration(10, 0), ros::Duration(10, 0));
00055   EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED) <<
00056     "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
00057 
00058   goal.goal = 4;
00059   state = client.sendGoalAndWait(goal, ros::Duration(2, 0), ros::Duration(1, 0));
00060   EXPECT_TRUE(state == SimpleClientGoalState::PREEMPTED) <<
00061     "Expected [PREEMPTED], but goal state is [" << client.getState().toString() << "]";
00062 }
00063 
00064 void spinThread()
00065 {
00066   ros::NodeHandle nh;
00067   ros::spin();
00068 }
00069 
00070 int main(int argc, char ** argv)
00071 {
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 Sep 28 2017 02:51:16