exercise_simple_client.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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// Derived from exercise_simple_server.py
 
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <actionlib/TestRequestAction.h>
#include <actionlib/TestRequestGoal.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib_msgs/GoalStatus.h>
 
 
#define EXPECT_STATE(expected_state) EXPECT_TRUE( \
    ac_.getState() == SimpleClientGoalState::expected_state) \
    << "Expected [" << #expected_state << "], but goal state is [" << ac_.getState().toString() << \
    "]";
 
 
using namespace actionlib;
using namespace actionlib_msgs;
 
class SimpleClientFixture : public testing::Test
{
public:
  SimpleClientFixture()
  : ac_("test_request_action"), default_wait_(60.0) {}
 
protected:
  virtual void SetUp()
  {
    // Make sure that the server comes up
    ASSERT_TRUE(ac_.waitForServer(ros::Duration(10.0)) );
  }
 
  SimpleActionClient<TestRequestAction> ac_;
  ros::Duration default_wait_;
};
 
TEST_F(SimpleClientFixture, just_succeed) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_SUCCESS;
  goal.the_result = 42;
  ac_.sendGoal(goal);
  ac_.waitForResult(default_wait_);
  EXPECT_STATE(SUCCEEDED);
  EXPECT_EQ(42, ac_.getResult()->the_result);
}
 
TEST_F(SimpleClientFixture, just_abort) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_ABORTED;
  goal.the_result = 42;
  ac_.sendGoal(goal);
  ac_.waitForResult(default_wait_);
  EXPECT_STATE(ABORTED);
  EXPECT_EQ(42, ac_.getResult()->the_result);
}
 
TEST_F(SimpleClientFixture, just_preempt) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_SUCCESS;
  goal.delay_terminate = ros::Duration(1000);
  goal.the_result = 42;
  ac_.sendGoal(goal);
 
  // Sleep for 10 seconds or until we hear back from the action server
  for (unsigned int i = 0; i < 100; i++) {
    ROS_DEBUG_NAMED("actionlib", "Waiting for Server Response");
    if (ac_.getState() != SimpleClientGoalState::PENDING) {
      break;
    }
    ros::Duration(0.1).sleep();
  }
 
  ac_.cancelGoal();
  ac_.waitForResult(default_wait_);
  EXPECT_STATE(PREEMPTED);
  EXPECT_EQ(42, ac_.getResult()->the_result);
}
 
TEST_F(SimpleClientFixture, drop) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_DROP;
  goal.the_result = 42;
  ac_.sendGoal(goal);
  ac_.waitForResult(default_wait_);
  EXPECT_STATE(ABORTED);
  EXPECT_EQ(0, ac_.getResult()->the_result);
}
 
TEST_F(SimpleClientFixture, exception) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_EXCEPTION;
  goal.the_result = 42;
  ac_.sendGoal(goal);
  ac_.waitForResult(default_wait_);
  EXPECT_STATE(ABORTED);
  EXPECT_EQ(0, ac_.getResult()->the_result);
}
 
TEST_F(SimpleClientFixture, ignore_cancel_and_succeed) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_SUCCESS;
  goal.delay_terminate = ros::Duration(2.0);
  goal.ignore_cancel = true;
  goal.the_result = 42;
  ac_.sendGoal(goal);
 
  // Sleep for 10 seconds or until we hear back from the action server
  for (unsigned int i = 0; i < 100; i++) {
    ROS_DEBUG_NAMED("actionlib", "Waiting for Server Response");
    if (ac_.getState() != SimpleClientGoalState::PENDING) {
      break;
    }
    ros::Duration(0.1).sleep();
  }
 
  ac_.cancelGoal();
  ac_.waitForResult(default_wait_ + default_wait_);
  EXPECT_STATE(SUCCEEDED);
  EXPECT_EQ(42, ac_.getResult()->the_result);
}
 
TEST_F(SimpleClientFixture, lose) {
  TestRequestGoal goal;
  goal.terminate_status = TestRequestGoal::TERMINATE_LOSE;
  goal.the_result = 42;
  ac_.sendGoal(goal);
  ac_.waitForResult(default_wait_);
  EXPECT_STATE(LOST);
}
 
void spinThread()
{
  ros::NodeHandle nh;
  ros::spin();
}
 
int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  ros::init(argc, argv, "simple_client_test");
 
  boost::thread spin_thread(&spinThread);
 
  int result = RUN_ALL_TESTS();
 
  ros::shutdown();
 
  spin_thread.join();
 
  return result;
}