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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,
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* 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_wait_test) {
ros::NodeHandle n;
SimpleActionClient<TestAction> client(n, "reference_action");
bool started = client.waitForServer(ros::Duration(10.0));
ASSERT_TRUE(started);
TestGoal goal;
SimpleClientGoalState state(SimpleClientGoalState::LOST);
goal.goal = 1;
state = client.sendGoalAndWait(goal, ros::Duration(10, 0), ros::Duration(10, 0));
EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED) <<
"Expected [SUCCEEDED], but goal state is [" << client.getState().toString() << "]";
goal.goal = 4;
state = client.sendGoalAndWait(goal, ros::Duration(2, 0), ros::Duration(1, 0));
EXPECT_TRUE(state == SimpleClientGoalState::PREEMPTED) <<
"Expected [PREEMPTED], but goal state is [" << client.getState().toString() << "]";
}
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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