test_preempt.cpp

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/*
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#include <memory>
#include <string>

#include <gtest/gtest.h>

#include <actionlib/client/simple_action_client.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <planner_cspace_msgs/PlannerStatus.h>
#include <ros/ros.h>

#include <planner_cspace/action_test_base.h>

class PreemptTest
  : public ActionTestBase<move_base_msgs::MoveBaseAction, ACTION_TOPIC_MOVE_BASE>
{
protected:
  move_base_msgs::MoveBaseGoal CreateGoalInFree()
  {
    move_base_msgs::MoveBaseGoal goal;
    goal.target_pose.header.stamp = ros::Time::now();
    goal.target_pose.header.frame_id = "map";
    goal.target_pose.pose.position.x = 1.24;
    goal.target_pose.pose.position.y = 0.65;
    goal.target_pose.pose.position.z = 0.0;
    goal.target_pose.pose.orientation.x = 0.0;
    goal.target_pose.pose.orientation.y = 0.0;
    goal.target_pose.pose.orientation.z = 0.0;
    goal.target_pose.pose.orientation.w = 1.0;
    return goal;
  }
};

TEST_F(PreemptTest, Preempt)
{
  const ros::Time deadline = ros::Time::now() + ros::Duration(5);
  const ros::Duration wait(1.0);

  move_base_->sendGoal(CreateGoalInFree());
  while (move_base_->getState().state_ !=
         actionlib::SimpleClientGoalState::ACTIVE)
  {
    wait.sleep();
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get active: " << move_base_->getState().toString()
        << statusString();
  }
  while (move_base_->getState().state_ ==
         actionlib::SimpleClientGoalState::ACTIVE)
  {
    move_base_->cancelAllGoals();
    wait.sleep();
    ASSERT_LT(ros::Time::now(), deadline)
        << "Action didn't get inactive: " << move_base_->getState().toString()
        << statusString();
  }

  ASSERT_TRUE(planner_status_);

  ASSERT_EQ(actionlib::SimpleClientGoalState::PREEMPTED,
            move_base_->getState().state_);
  ASSERT_EQ(planner_cspace_msgs::PlannerStatus::GOING_WELL,
            planner_status_->error);
  ASSERT_EQ(planner_cspace_msgs::PlannerStatus::DONE,
            planner_status_->status);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_preempt");

  ros::AsyncSpinner spinner(1);
  spinner.start();
  int ret = RUN_ALL_TESTS();
  spinner.stop();
  ros::shutdown();
  return ret;
}