1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
|
#! /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
from actionlib import SimpleActionClient
from actionlib import ActionClient
from actionlib.msg import TestAction, TestGoal
class TestRefSimpleActionServer(unittest.TestCase):
def test_one(self):
client = SimpleActionClient('reference_simple_action', TestAction)
self.assertTrue(client.wait_for_server(rospy.Duration(2.0)),
'Could not connect to the action server')
goal = TestGoal(1)
client.send_goal(goal)
self.assertTrue(client.wait_for_result(rospy.Duration(2.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
goal = TestGoal(2)
client.send_goal(goal)
self.assertTrue(client.wait_for_result(rospy.Duration(10.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.ABORTED, client.get_state())
goal = TestGoal(3)
client.send_goal(goal)
self.assertTrue(client.wait_for_result(rospy.Duration(10.0)),
"Goal didn't finish")
# The simple server can't reject goals
self.assertEqual(GoalStatus.ABORTED, client.get_state())
goal = TestGoal(9)
saved_feedback = {}
def on_feedback(fb):
rospy.loginfo("Got feedback")
saved_feedback[0] = fb
client.send_goal(goal, feedback_cb=on_feedback)
self.assertTrue(client.wait_for_result(rospy.Duration(10.0)),
"Goal didn't finish")
self.assertEqual(GoalStatus.SUCCEEDED, client.get_state())
self.assertEqual(saved_feedback[0].feedback, 9)
if __name__ == '__main__':
import rostest
rospy.init_node('test_ref_simple_action_server')
rostest.rosrun('actionlib', 'test_simple_action_client_python', TestRefSimpleActionServer)
|
