test_ref_simple_action_server.py

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#! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
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# modification, are permitted provided that the following conditions are met:
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#       this software without specific prior written permission.
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PKG = 'actionlib'
 
import unittest
import rospy
from actionlib_msgs.msg import GoalStatus
from actionlib import SimpleActionClient
from actionlib import ActionClient
from actionlib.msg import TestAction, TestGoal
 
 
class TestRefSimpleActionServer(unittest.TestCase):
 
    def test_one(self):
        client = SimpleActionClient('reference_simple_action', TestAction)
        self.assertTrue(client.wait_for_server(rospy.Duration(2.0)),
                     'Could not connect to the action server')
 
        goal = TestGoal(1)
        client.send_goal(goal)
        self.assertTrue(client.wait_for_result(rospy.Duration(2.0)),
                     "Goal didn't finish")
        self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
 
        goal = TestGoal(2)
        client.send_goal(goal)
        self.assertTrue(client.wait_for_result(rospy.Duration(10.0)),
                     "Goal didn't finish")
        self.assertEqual(GoalStatus.ABORTED, client.get_state())
 
        goal = TestGoal(3)
        client.send_goal(goal)
        self.assertTrue(client.wait_for_result(rospy.Duration(10.0)),
                     "Goal didn't finish")
 
        # The simple server can't reject goals
        self.assertEqual(GoalStatus.ABORTED, client.get_state())
 
        goal = TestGoal(9)
        saved_feedback = {}
 
        def on_feedback(fb):
            rospy.loginfo("Got feedback")
            saved_feedback[0] = fb
 
        client.send_goal(goal, feedback_cb=on_feedback)
        self.assertTrue(client.wait_for_result(rospy.Duration(10.0)),
                     "Goal didn't finish")
        self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
 
        self.assertEqual(saved_feedback[0].feedback, 9)
 
 
if __name__ == '__main__':
    import rostest
    rospy.init_node('test_ref_simple_action_server')
    rostest.rosrun('actionlib', 'test_simple_action_client_python', TestRefSimpleActionServer)