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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 unittest
import rospy
from actionlib_msgs.msg import GoalStatus
# TODO(mikaelarguedas) use SimpleActionClient here if it makes sense
# from actionlib import SimpleActionClient
from actionlib import ActionClient
from actionlib.msg import TestAction, TestGoal
class TestRefSimpleActionServer(unittest.TestCase):
def testsimple(self):
return
client = ActionClient('reference_action', TestAction)
self.assertTrue(client.wait_for_action_server_to_start(rospy.Duration(2.0)),
'Could not connect to the action server')
goal = TestGoal(1)
client.send_goal(goal)
self.assertTrue(client.wait_for_goal_to_finish(rospy.Duration(2.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.SUCCEEDED, client.get_terminal_state())
self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
goal = TestGoal(2)
client.send_goal(goal)
self.assertTrue(client.wait_for_goal_to_finish(rospy.Duration(10.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.ABORTED, client.get_terminal_state())
self.assertEqual(GoalStatus.ABORTED, client.get_state())
def test_abort(self):
client = ActionClient('reference_action', TestAction)
self.assertTrue(client.wait_for_server(rospy.Duration(2.0)),
'Could not connect to the action server')
goal_work = TestGoal(4)
goal_abort = TestGoal(6)
goal_feedback = TestGoal(8)
g1 = client.send_goal(goal_work)
g2 = client.send_goal(goal_work)
g3 = client.send_goal(goal_work)
g4 = client.send_goal(goal_work)
rospy.sleep(0.5)
self.assertEqual(g1.get_goal_status(), GoalStatus.ACTIVE) # ,"Should be active")
self.assertEqual(g2.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g3.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g4.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
g5 = client.send_goal(goal_abort)
rospy.sleep(0.5)
self.assertEqual(g5.get_goal_status(), GoalStatus.SUCCEEDED, "Should be done")
self.assertEqual(g1.get_goal_status(), GoalStatus.ABORTED, "Should be aborted")
self.assertEqual(g2.get_goal_status(), GoalStatus.ABORTED, "Should be aborted")
self.assertEqual(g3.get_goal_status(), GoalStatus.ABORTED, "Should be aborted")
self.assertEqual(g4.get_goal_status(), GoalStatus.ABORTED, "Should be aborted")
def test_feedback(self):
client = ActionClient('reference_action', TestAction)
self.assertTrue(client.wait_for_server(rospy.Duration(2.0)),
'Could not connect to the action server')
goal_work = TestGoal(4)
goal_abort = TestGoal(6)
goal_feedback = TestGoal(7)
rospy.logwarn("This is a hacky way to associate goals with feedback")
feedback = {}
def update_feedback(id, g, f):
feedback[id] = f
g1 = client.send_goal(goal_work, feedback_cb=lambda g, f: update_feedback(0, g, f))
g2 = client.send_goal(goal_work, feedback_cb=lambda g, f: update_feedback(1, g, f))
g3 = client.send_goal(goal_work, feedback_cb=lambda g, f: update_feedback(2, g, f))
g4 = client.send_goal(goal_work, feedback_cb=lambda g, f: update_feedback(3, g, f))
rospy.sleep(0.5)
self.assertEqual(g1.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g2.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g3.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g4.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
g5 = client.send_goal(goal_feedback)
rospy.sleep(0.5)
self.assertEqual(g5.get_goal_status(), GoalStatus.SUCCEEDED, "Should be done")
self.assertEqual(g1.get_goal_status(), GoalStatus.ACTIVE)
self.assertEqual(feedback[0].feedback, 4)
self.assertEqual(g2.get_goal_status(), GoalStatus.ACTIVE)
self.assertEqual(feedback[1].feedback, 3)
self.assertEqual(g3.get_goal_status(), GoalStatus.ACTIVE)
self.assertEqual(feedback[2].feedback, 2)
self.assertEqual(g4.get_goal_status(), GoalStatus.ACTIVE)
self.assertEqual(feedback[3].feedback, 1)
g6 = client.send_goal(goal_abort)
rospy.sleep(0.5)
def test_result(self):
client = ActionClient('reference_action', TestAction)
self.assertTrue(client.wait_for_server(rospy.Duration(2.0)),
'Could not connect to the action server')
goal_work = TestGoal(4)
goal_abort = TestGoal(6)
goal_result = TestGoal(8)
rospy.logwarn("This is a hacky way to associate goals with feedback")
g1 = client.send_goal(goal_work)
g2 = client.send_goal(goal_work)
g3 = client.send_goal(goal_work)
g4 = client.send_goal(goal_work)
rospy.sleep(0.5)
self.assertEqual(g1.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g2.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g3.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
self.assertEqual(g4.get_goal_status(), GoalStatus.ACTIVE, "Should be active")
g5 = client.send_goal(goal_result)
rospy.sleep(0.5)
self.assertEqual(g5.get_goal_status(), GoalStatus.SUCCEEDED, "Should be done")
self.assertEqual(g1.get_goal_status(), GoalStatus.SUCCEEDED)
self.assertEqual(g1.get_result().result, 4)
self.assertEqual(g2.get_goal_status(), GoalStatus.ABORTED)
self.assertEqual(g2.get_result().result, 3)
self.assertEqual(g3.get_goal_status(), GoalStatus.SUCCEEDED)
self.assertEqual(g3.get_result().result, 2)
self.assertEqual(g4.get_goal_status(), GoalStatus.ABORTED)
self.assertEqual(g4.get_result().result, 1)
g6 = client.send_goal(goal_abort)
rospy.sleep(0.5)
if __name__ == '__main__':
import rostest
rospy.init_node('test_ref_simple_action_server')
rostest.rosrun('actionlib', 'test_simple_action_client_python', TestRefSimpleActionServer)
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