def setUp(self):
global count
rospy.init_node("test", anonymous=True)
self.action_server = TimerActionServer(
TestMultiGoalActionClient.ACTION_SERVER_NAME + "_" + str(count))
self.action_server.start_server()
self.client = MultiGoalActionClient(
TestMultiGoalActionClient.ACTION_SERVER_NAME + "_" + str(count),
TimerAction)
self.client.wait_for_server()
count += 1
class TestMultiGoalActionClient(TestCase):
ACTION_SERVER_NAME = "test_action_server"
def setUp(self):
global count
rospy.init_node("test", anonymous=True)
self.action_server = TimerActionServer(
TestMultiGoalActionClient.ACTION_SERVER_NAME + "_" + str(count))
self.action_server.start_server()
self.client = MultiGoalActionClient(
TestMultiGoalActionClient.ACTION_SERVER_NAME + "_" + str(count),
TimerAction)
self.client.wait_for_server()
count += 1
def tearDown(self):
self.client.stop()
def test_wait_for_server(self):
started1 = self.client.wait_for_server(
timeout=rospy.Duration.from_sec(1.0))
client2 = MultiGoalActionClient("i_dont_exist", TimerAction)
started2 = client2.wait_for_server(
timeout=rospy.Duration.from_sec(1.0))
self.assertEqual(started1, True)
self.assertEqual(started2, False)
def test_send_goal(self):
timer = TimerGoal()
timer.duration = 0.5
gh1 = self.client.send_goal(timer)
success = self.client.wait_for_result(
gh1, timeout=rospy.Duration.from_sec(0.6))
self.assertEqual(success, True)
def test_get_result(self):
timer = TimerGoal()
timer.duration = 0.5
gh1 = self.client.send_goal(timer)
self.client.wait_for_result(gh1, timeout=rospy.Duration.from_sec(0.55))
result = self.client.get_result(gh1)
self.assertEqual(isinstance(result, TimerResult), True)
self.assertEqual(result.success, True)
def test_send_two_goals_serial(self):
# First goal
timer1 = TimerGoal()
timer1.duration = 0.5
gh1 = self.client.send_goal(timer1)
success1 = self.client.wait_for_result(
gh1, timeout=rospy.Duration.from_sec(0.55))
# Second goal
timer2 = TimerGoal()
timer2.duration = 0.5
gh2 = self.client.send_goal(timer2)
success2 = self.client.wait_for_result(
gh2, timeout=rospy.Duration.from_sec(0.6))
self.assertEqual(success1, True)
self.assertEqual(success2, True)
def test_send_two_goals_parallel(self):
timer1 = TimerGoal()
timer2 = TimerGoal()
timer1.duration = 1.0
timer2.duration = 1.0
start = time.time()
# Send both goals
gh1 = self.client.send_goal(timer1)
gh2 = self.client.send_goal(timer2)
result1 = self.client.wait_for_result(
gh1, timeout=rospy.Duration.from_sec(1.1))
result2 = self.client.wait_for_result(
gh2, timeout=rospy.Duration.from_sec(1.1))
end = time.time()
duration = end - start
self.assertEqual(result1, True)
self.assertEqual(result2, True)
# self.assertAlmostEqual(duration, 1.0, places=1)
def test_get_goal_id(self):
timer = TimerGoal()
timer.duration = 0.1
gh1 = self.client.send_goal(timer)
goal_id = self.client.goal_id(gh1)
self.assertIsNotNone(goal_id)
def test_is_tracking_goal(self):
timer = TimerGoal()
timer.duration = 0.1
gh1 = self.client.send_goal(timer)
tracking = self.client.is_tracking_goal(gh1)
self.assertEqual(tracking, True)
def test_get_action_handle(self):
timer = TimerGoal()
timer.duration = 1.0
gh1 = self.client.send_goal(timer)
time.sleep(0.5)
action_handle = self.client.get_action_handle(gh1)
self.assertEqual(isinstance(action_handle, ActionHandle), True)
def test_get_state(self):
timer = TimerGoal()
timer.duration = 1.0
gh1 = self.client.send_goal(timer)
pending = self.client.get_state(gh1)
time.sleep(0.5)
active = self.client.get_state(gh1)
self.client.wait_for_result(gh1, timeout=rospy.Duration.from_sec(1.1))
succeeded = self.client.get_state(gh1)
# gh2 = self.client.send_goal(timer)
# time.sleep(0.5)
# self.client.cancel_goal(gh2)
#preeempted = self.client.get_state(gh2)
self.assertEqual(pending, GoalStatus.PENDING)
self.assertEqual(active, GoalStatus.ACTIVE)
self.assertEqual(succeeded, GoalStatus.SUCCEEDED)
# self.assertEqual(preeempted, GoalStatus)
def test_cancel_goal(self):
timer1 = TimerGoal()
timer1.duration = 5.0
gh1 = self.client.send_goal(timer1)
pending = self.client.get_state(gh1)
time.sleep(0.5)
active = self.client.get_state(gh1)
self.client.cancel_goal(gh1)
time.sleep(0.5)
preempted = self.client.get_state(gh1)
self.assertEqual(GoalStatus.PENDING, pending)
self.assertEqual(GoalStatus.ACTIVE, active)
self.assertEqual(GoalStatus.PREEMPTED, preempted)
def test_cancel_all_goals(self):
timer1 = TimerGoal()
timer2 = TimerGoal()
timer1.duration = 1.0
timer2.duration = 1.0
gh1 = self.client.send_goal(timer1)
gh2 = self.client.send_goal(timer2)
time.sleep(0.5)
self.client.cancel_all_goals()
time.sleep(0.5)
self.assertEqual(GoalStatus.PREEMPTED, self.client.get_state(gh1))
self.assertEqual(GoalStatus.PREEMPTED, self.client.get_state(gh2))
def test_cancel_goals_at_and_before_time(self):
before_time1 = TimerGoal()
before_time2 = TimerGoal()
before_time1.duration = 5.0
before_time2.duration = 5.0
gh1 = self.client.send_goal(before_time1)
gh2 = self.client.send_goal(before_time2)
cancel_time = rospy.Time().now()
after_time_1 = TimerGoal()
after_time_1.duration = 1.0
gh3 = self.client.send_goal(after_time_1)
time.sleep(0.5)
self.client.cancel_goals_at_and_before_time(cancel_time)
success = self.client.wait_for_result(
gh3, timeout=rospy.Duration.from_sec(1.1))
self.assertEqual(GoalStatus.PREEMPTED, self.client.get_state(gh1))
self.assertEqual(GoalStatus.PREEMPTED, self.client.get_state(gh2))
self.assertEqual(GoalStatus.SUCCEEDED, self.client.get_state(gh3))
self.assertEqual(success, True)
def test_done_callback(self):
timer = TimerGoal()
timer.duration = 0.5
mock = Mock()
gh1 = self.client.send_goal(timer, done_cb=mock)
time.sleep(1.0)
mock.assert_called_once_with(gh1)
def test_active_callback(self):
timer = TimerGoal()
timer.duration = 0.5
mock = Mock()
gh1 = self.client.send_goal(timer, active_cb=mock)
self.client.wait_for_result(gh1, timeout=rospy.Duration.from_sec(1.1))
mock.assert_called_once_with(gh1)
def test_feedback_callback(self):
timer = TimerGoal()
timer.duration = 1.0
mock = Mock()
gh1 = self.client.send_goal(timer, feedback_cb=mock)
self.client.wait_for_result(gh1, timeout=rospy.Duration.from_sec(1.1))
mock.assert_called_once_with(gh1, TimerFeedback(current_time=10))
