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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 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 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.
*********************************************************************/
//! \author Vijay Pradeep
#include <gtest/gtest.h>
#include <actionlib/TestAction.h>
#include <actionlib/client/simple_action_client.h>
using namespace actionlib;
TEST(SimpleClient, easy_tests) {
ros::NodeHandle n;
SimpleActionClient<TestAction> client(n, "reference_action");
bool started = client.waitForServer(ros::Duration(10.0));
ASSERT_TRUE(started);
TestGoal goal;
bool finished;
goal.goal = 1;
// sleep a bit to make sure that all topics are properly connected to the server.
ros::Duration(0.01).sleep();
client.sendGoal(goal);
finished = client.waitForResult(ros::Duration(10.0));
ASSERT_TRUE(finished);
EXPECT_TRUE( client.getState() == SimpleClientGoalState::SUCCEEDED)
<< "Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
// test that setting the text field for the status works
EXPECT_TRUE(client.getState().getText() == "The ref server has succeeded");
goal.goal = 2;
client.sendGoal(goal);
finished = client.waitForResult(ros::Duration(10.0));
ASSERT_TRUE(finished);
EXPECT_TRUE( client.getState() == SimpleClientGoalState::ABORTED)
<< "Expected [ABORTED], but goal state is [" << client.getState().toString() << "]";
// test that setting the text field for the status works
EXPECT_TRUE(client.getState().getText() == "The ref server has aborted");
client.cancelAllGoals();
// Don't need this line, but keep it as a compilation check
client.cancelGoalsAtAndBeforeTime(ros::Time(1.0));
}
void easyDoneCallback(bool * called, SimpleActionClient<TestAction> * ac, const SimpleClientGoalState & state,
const TestResultConstPtr &)
{
EXPECT_TRUE(ac->getState() == SimpleClientGoalState::SUCCEEDED)
<< "Expected [SUCCEEDED], but getState() returned [" << ac->getState().toString() << "]";
EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED)
<< "Expected [SUCCEEDED], but goal state is [" << state.toString() << "]";
ros::Duration(0.1).sleep();
*called = true;
}
TEST(SimpleClient, easy_callback)
{
ros::NodeHandle n;
SimpleActionClient<TestAction> client(n, "reference_action");
bool started = client.waitForServer(ros::Duration(10.0));
ASSERT_TRUE(started);
// sleep a bit to make sure that all topics are properly connected to the server.
ros::Duration(0.01).sleep();
TestGoal goal;
bool finished;
bool called = false;
goal.goal = 1;
SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, &client, boost::placeholders::_1, boost::placeholders::_2);
client.sendGoal(goal, func);
finished = client.waitForResult(ros::Duration(10.0));
ASSERT_TRUE(finished);
EXPECT_TRUE(called) << "easyDoneCallback() was never called" ;
}
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;
}
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