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LeroyRLeroyR
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fix bogus test
1 parent ba8270e commit 3d58130

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3 files changed

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-329
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+316
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‎src/test/java/TestClient.java

+107-113
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,12 @@
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/**
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* Copyright 2015 Ekumen www.ekumenlabs.com
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*
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* <p>
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* <p>
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* http://www.apache.org/licenses/LICENSE-2.0
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* <p>
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
@@ -15,135 +15,129 @@
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*/
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import java.util.List;
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import org.ros.namespace.GraphName;
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import org.ros.node.AbstractNodeMain;
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import org.ros.node.ConnectedNode;
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import org.ros.message.Duration;
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import actionlib_tutorials.FibonacciActionGoal;
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import actionlib_tutorials.FibonacciActionFeedback;
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import actionlib_tutorials.FibonacciActionResult;
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import actionlib_tutorials.FibonacciGoal;
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import actionlib_tutorials.FibonacciFeedback;
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import actionlib_tutorials.FibonacciResult;
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import actionlib_msgs.GoalStatusArray;
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import actionlib_msgs.GoalID;
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import actionlib_msgs.GoalStatus;
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import actionlib_msgs.GoalStatusArray;
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import actionlib_tutorials.*;
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import com.github.rosjava_actionlib.ActionClient;
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import com.github.rosjava_actionlib.ActionClientListener;
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import com.github.rosjava_actionlib.ClientStateMachine;
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import org.apache.commons.logging.Log;
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import org.ros.message.Duration;
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import org.ros.namespace.GraphName;
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import org.ros.node.AbstractNodeMain;
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import org.ros.node.ConnectedNode;
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import java.util.List;
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/**
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* Class to test the actionlib client.
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* @author Ernesto Corbellini [email protected]
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*/
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public class TestClient extends AbstractNodeMain implements ActionClientListener<FibonacciActionFeedback, FibonacciActionResult> {
44-
static {
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// comment this line if you want logs activated
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System.setProperty("org.apache.commons.logging.Log",
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"org.apache.commons.logging.impl.NoOpLog");
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}
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private ActionClient ac = null;
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private volatile boolean resultReceived = false;
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private Log log;
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@Override
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public GraphName getDefaultNodeName() {
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return GraphName.of("fibonacci_test_client");
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}
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@Override
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public void onStart(ConnectedNode node) {
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ac = new ActionClient<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE);
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FibonacciActionGoal goalMessage;
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GoalID gid;
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Duration serverTimeout = new Duration(20);
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boolean serverStarted;
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log = node.getLog();
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// Attach listener for the callbacks
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ac.attachListener(this);
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System.out.println("\nWaiting for action server to start...");
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serverStarted = ac.waitForActionServerToStart(new Duration(20));
71-
if (serverStarted) {
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System.out.println("Action server started.\n");
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static {
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// comment this line if you want logs activated
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System.setProperty("org.apache.commons.logging.Log",
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"org.apache.commons.logging.impl.NoOpLog");
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}
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else {
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System.out.println("No actionlib server found after waiting for " + serverTimeout.totalNsecs()/1e9 + " seconds!");
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System.exit(1);
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private ActionClient ac = null;
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private volatile boolean resultReceived = false;
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private Log log;
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@Override
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public GraphName getDefaultNodeName() {
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return GraphName.of("fibonacci_test_client");
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}
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// Create Fibonacci goal message
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goalMessage = (FibonacciActionGoal)ac.newGoalMessage();
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FibonacciGoal fibonacciGoal = goalMessage.getGoal();
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// set Fibonacci parameter
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fibonacciGoal.setOrder(3);
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System.out.println("Sending goal...");
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ac.sendGoal(goalMessage);
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gid = ac.getGoalId(goalMessage);
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System.out.println("Sent goal with ID: " + gid.getId());
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System.out.println("Waiting for goal to complete...");
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while (ac.getGoalState() != ClientStateMachine.ClientStates.DONE) {
90-
sleep(1);
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@Override
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public void onStart(ConnectedNode node) {
56+
ac = new ActionClient<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE);
57+
FibonacciActionGoal goalMessage;
58+
GoalID gid;
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Duration serverTimeout = new Duration(20);
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boolean serverStarted;
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log = node.getLog();
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// Attach listener for the callbacks
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ac.attachListener(this);
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System.out.println("\nWaiting for action server to start...");
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serverStarted = ac.waitForActionServerToStart(new Duration(20));
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if (serverStarted) {
68+
System.out.println("Action server started.\n");
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} else {
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System.out.println("No actionlib server found after waiting for " + serverTimeout.totalNsecs() / 1e9 + " seconds!");
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System.exit(1);
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}
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// Create Fibonacci goal message
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goalMessage = (FibonacciActionGoal) ac.newGoalMessage();
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FibonacciGoal fibonacciGoal = goalMessage.getGoal();
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// set Fibonacci parameter
78+
fibonacciGoal.setOrder(3);
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System.out.println("Sending goal...");
80+
ac.sendGoal(goalMessage);
81+
gid = ac.getGoalId(goalMessage);
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System.out.println("Sent goal with ID: " + gid.getId());
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System.out.println("Waiting for goal to complete...");
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while (ac.getGoalState() != ClientStateMachine.ClientStates.DONE) {
85+
sleep(1);
86+
}
87+
System.out.println("Goal completed!\n");
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89+
System.out.println("Sending a new goal...");
90+
ac.sendGoal(goalMessage);
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gid = ac.getGoalId(goalMessage);
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System.out.println("Sent goal with ID: " + gid.getId());
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System.out.println("Cancelling this goal...");
94+
ac.sendCancel(gid);
95+
while (ac.getGoalState() != ClientStateMachine.ClientStates.DONE) {
96+
sleep(1);
97+
}
98+
System.out.println("Goal cancelled succesfully.\n");
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System.out.println("Bye!");
100+
System.exit(0);
91101
}
92-
System.out.println("Goal completed!\n");
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94-
System.out.println("Sending a new goal...");
95-
ac.sendGoal(goalMessage);
96-
gid = ac.getGoalId(goalMessage);
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System.out.println("Sent goal with ID: " + gid.getId());
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System.out.println("Cancelling this goal...");
99-
ac.sendCancel(gid);
100-
while (ac.getGoalState() != ClientStateMachine.ClientStates.DONE) {
101-
sleep(1);
102+
103+
@Override
104+
public void resultReceived(FibonacciActionResult message) {
105+
FibonacciResult result = message.getResult();
106+
int[] sequence = result.getSequence();
107+
int i;
108+
109+
resultReceived = true;
110+
System.out.print("Got Fibonacci result sequence: ");
111+
for (i = 0; i < sequence.length; i++)
112+
System.out.print(Integer.toString(sequence[i]) + " ");
113+
System.out.println("");
102114
}
103-
System.out.println("Goal cancelled succesfully.\n");
104-
System.out.println("Bye!");
105-
System.exit(0);
106-
}
107-
108-
@Override
109-
public void resultReceived(FibonacciActionResult message) {
110-
FibonacciResult result = message.getResult();
111-
int[] sequence = result.getSequence();
112-
int i;
113-
114-
resultReceived = true;
115-
System.out.print("Got Fibonacci result sequence: ");
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for (i=0; i<sequence.length; i++)
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System.out.print(Integer.toString(sequence[i]) + " ");
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System.out.println("");
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}
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@Override
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public void feedbackReceived(FibonacciActionFeedback message) {
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FibonacciFeedback result = message.getFeedback();
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int[] sequence = result.getSequence();
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int i;
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System.out.print("Feedback from Fibonacci server: ");
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for (i=0; i<sequence.length; i++)
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System.out.print(Integer.toString(sequence[i]) + " ");
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System.out.print("\n");
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}
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@Override
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public void statusReceived(GoalStatusArray status) {
135-
List<GoalStatus> statusList = status.getStatusList();
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for(GoalStatus gs:statusList) {
137-
log.info("GoalID: " + gs.getGoalId().getId() + " -- GoalStatus: " + gs.getStatus() + " -- " + gs.getText());
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116+
@Override
117+
public void feedbackReceived(FibonacciActionFeedback message) {
118+
FibonacciFeedback result = message.getFeedback();
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int[] sequence = result.getSequence();
120+
int i;
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System.out.print("Feedback from Fibonacci server: ");
123+
for (i = 0; i < sequence.length; i++)
124+
System.out.print(Integer.toString(sequence[i]) + " ");
125+
System.out.print("\n");
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}
139-
log.info("Current state of our goal: " + ClientStateMachine.ClientStates.translateState(ac.getGoalState()));
140-
}
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142-
void sleep(long msec) {
143-
try {
144-
Thread.sleep(msec);
128+
@Override
129+
public void statusReceived(GoalStatusArray status) {
130+
List<GoalStatus> statusList = status.getStatusList();
131+
for (GoalStatus gs : statusList) {
132+
log.info("GoalID: " + gs.getGoalId().getId() + " -- GoalStatus: " + gs.getStatus() + " -- " + gs.getText());
133+
}
134+
log.info("Current state of our goal: " + ClientStateMachine.ClientStates.translateState(ac.getGoalState()));
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}
146-
catch (InterruptedException ex) {
136+
137+
void sleep(long msec) {
138+
try {
139+
Thread.sleep(msec);
140+
} catch (InterruptedException ex) {
141+
}
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}
148-
}
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}

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