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#! /usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
PKG = 'actionlib'
import sys
import unittest
import rospy
import rostest
from actionlib import SimpleActionClient
from actionlib_msgs.msg import GoalStatus
from actionlib.msg import TestRequestAction, TestRequestGoal
class SimpleExerciser(unittest.TestCase):
def setUp(self):
self.default_wait = rospy.Duration(60.0)
self.client = SimpleActionClient('test_request_action', TestRequestAction)
self.assertTrue(self.client.wait_for_server(self.default_wait))
def test_just_succeed(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_SUCCESS,
the_result=42)
self.client.send_goal(goal)
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.SUCCEEDED, self.client.get_state())
self.assertEqual(42, self.client.get_result().the_result)
def test_just_abort(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_ABORTED,
the_result=42)
self.client.send_goal(goal)
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.ABORTED, self.client.get_state())
self.assertEqual(42, self.client.get_result().the_result)
def test_just_preempt(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_SUCCESS,
delay_terminate=rospy.Duration(100000),
the_result=42)
self.client.send_goal(goal)
# Ensure that the action server got the goal, before continuing
timeout_time = rospy.Time.now() + self.default_wait
while rospy.Time.now() < timeout_time:
if (self.client.get_state() != GoalStatus.PENDING):
break
self.client.cancel_goal()
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.PREEMPTED, self.client.get_state())
self.assertEqual(42, self.client.get_result().the_result)
# Should print out errors about not setting a terminal status in the action server.
def test_drop(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_DROP,
the_result=42)
self.client.send_goal(goal)
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.ABORTED, self.client.get_state())
self.assertEqual(0, self.client.get_result().the_result)
# Should print out errors about throwing an exception
def test_exception(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_EXCEPTION,
the_result=42)
self.client.send_goal(goal)
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.ABORTED, self.client.get_state())
self.assertEqual(0, self.client.get_result().the_result)
def test_ignore_cancel_and_succeed(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_SUCCESS,
delay_terminate=rospy.Duration(2.0),
ignore_cancel=True,
the_result=42)
self.client.send_goal(goal)
# Ensure that the action server got the goal, before continuing
timeout_time = rospy.Time.now() + self.default_wait
while rospy.Time.now() < timeout_time:
if (self.client.get_state() != GoalStatus.PENDING):
break
self.client.cancel_goal()
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.SUCCEEDED, self.client.get_state())
self.assertEqual(42, self.client.get_result().the_result)
def test_lose(self):
goal = TestRequestGoal(terminate_status=TestRequestGoal.TERMINATE_LOSE,
the_result=42)
self.client.send_goal(goal)
self.client.wait_for_result(self.default_wait)
self.assertEqual(GoalStatus.LOST, self.client.get_state())
# test_freeze_server has been removed, as it is undecided what should happen
# when the action server disappears.
#
# # def test_freeze_server(self):
# # goal = TestRequestGoal(terminate_status = TestRequestGoal.TERMINATE_SUCCESS,
# # the_result = 42,
# # pause_status = rospy.Duration(10.0))
# # self.client.send_goal(goal)
# # self.client.wait_for_result(rospy.Duration(13.0))
# #
# # self.assertEqual(GoalStatus.LOST, self.client.get_state())
#
if __name__ == '__main__':
rospy.init_node("exercise_simple_server")
rostest.run(PKG, 'exercise_simple_server', SimpleExerciser, sys.argv)
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