Skip to content

Commit a7537d5

Browse files
qiuzhongMinggang Wang
qiuzhong
authored and
Minggang Wang
committed
Add test cases for covering actionlib feature.
1 parent e650b79 commit a7537d5

File tree

2 files changed

+350
-3
lines changed

2 files changed

+350
-3
lines changed

‎test/blacklist.json‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
{
2-
"Linux": [],
3-
"Darwin": [],
4-
"Windows_NT": []
2+
"Linux": ["test-actionlib.js"],
3+
"Darwin": ["test-actionlib.js"],
4+
"Windows_NT": ["test-actionlib.js"]
55
}

‎test/test-actionlib.js‎

Lines changed: 347 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,347 @@
1+
// Copyright (c) 2017 Intel Corporation. All rights reserved.
2+
//
3+
// Licensed under the Apache License, Version 2.0 (the "License");
4+
// you may not use this file except in compliance with the License.
5+
// You may obtain a copy of the License at
6+
//
7+
// http://www.apache.org/licenses/LICENSE-2.0
8+
//
9+
// Unless required by applicable law or agreed to in writing, software
10+
// distributed under the License is distributed on an "AS IS" BASIS,
11+
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
// See the License for the specific language governing permissions and
13+
// limitations under the License.
14+
15+
/* eslint-disable camelcase */
16+
17+
'use strict';
18+
19+
const assert = require('assert');
20+
const rclnodejs = require('../index.js');
21+
22+
describe('Testing message files generated from an action file', function() {
23+
// let testRootDir = __dirname;
24+
// let testActionDir = path.join(testRootDir, 'ros1_actions');
25+
// let pkgRootDir = path.dirname(testRootDir);
26+
// let msgGenRootDir = path.join(pkgRootDir, 'generated');
27+
28+
this.timeout(60 * 1000);
29+
30+
beforeEach(function() {
31+
return rclnodejs.init();
32+
});
33+
34+
afterEach(function() {
35+
rclnodejs.shutdown();
36+
});
37+
38+
it('ActionServer start', function() {
39+
let as = new rclnodejs.ActionLib.ActionServer({
40+
type: 'ros1_actions/msg/DoDishes',
41+
actionServer: 'dishes1',
42+
rclnodejs: rclnodejs
43+
});
44+
45+
as.start();
46+
});
47+
48+
it('GoalStatus requiring', function() {
49+
rclnodejs.require('actionlib_msgs/msg/GoalStatus');
50+
});
51+
52+
it('ActionClient sendGoal', function() {
53+
let ac = new rclnodejs.ActionClientInterface({
54+
type: 'ros1_actions/msg/DoDishes',
55+
actionServer: 'dishes3',
56+
rclnodejs: rclnodejs
57+
});
58+
59+
ac.sendGoal({ goal: {dishwasher_id: 3}});
60+
});
61+
62+
it('ActionLib server goal event triggered', function(done) {
63+
let as = new rclnodejs.ActionLib.ActionServer({
64+
type: 'ros1_actions/msg/DoDishes',
65+
actionServer: 'dishes4',
66+
rclnodejs: rclnodejs
67+
});
68+
as.on('goal', function(goal) {
69+
done();
70+
});
71+
as.start();
72+
73+
let ac = new rclnodejs.ActionClientInterface({
74+
type: 'ros1_actions/msg/DoDishes',
75+
actionServer: 'dishes4',
76+
rclnodejs: rclnodejs
77+
});
78+
ac.sendGoal({ goal: {dishwasher_id: 4}});
79+
});
80+
81+
it('ActionLib client feedback accepted', function(done) {
82+
let as = new rclnodejs.ActionLib.ActionServer({
83+
type: 'ros1_actions/msg/DoDishes',
84+
actionServer: 'dishes5',
85+
rclnodejs: rclnodejs
86+
});
87+
as.on('goal', function(goal) {
88+
goal.setAccepted('goal accepted');
89+
let feedback = {
90+
percent_complete: 70
91+
};
92+
93+
goal.publishFeedback(feedback);
94+
});
95+
as.start();
96+
97+
let ac = new rclnodejs.ActionClientInterface({
98+
type: 'ros1_actions/msg/DoDishes',
99+
actionServer: 'dishes5',
100+
rclnodejs: rclnodejs
101+
});
102+
ac.on('feedback', function(feedback) {
103+
assert.strictEqual(feedback.percent_complete, 70);
104+
done();
105+
});
106+
ac.sendGoal({ goal: {dishwasher_id: 5}});
107+
});
108+
109+
it('ActionLib server goal cancelled', function(done) {
110+
let as = new rclnodejs.ActionLib.ActionServer({
111+
type: 'ros1_actions/msg/DoDishes',
112+
actionServer: 'dishes6',
113+
rclnodejs: rclnodejs
114+
});
115+
as.on('goal', function(goal) {
116+
goal.setCancelRequested();
117+
});
118+
as.start();
119+
120+
let ac = new rclnodejs.ActionClientInterface({
121+
type: 'ros1_actions/msg/DoDishes',
122+
actionServer: 'dishes6',
123+
rclnodejs: rclnodejs
124+
});
125+
ac.on('feedback', function(feedback) {
126+
assert.throws(() => {
127+
throw new Error('should not be here');
128+
}, Error);
129+
});
130+
ac.on('status', function(status) {
131+
done();
132+
});
133+
ac.sendGoal({ goal: {dishwasher_id: 6}});
134+
});
135+
136+
it('ActionLib server goal setCancelled', function(done) {
137+
let as = new rclnodejs.ActionLib.ActionServer({
138+
type: 'ros1_actions/msg/DoDishes',
139+
actionServer: 'dishes7',
140+
rclnodejs: rclnodejs
141+
});
142+
as.on('goal', function(goal) {
143+
goal.setAccepted('goal accepted');
144+
145+
ac.cancel(goal.id);
146+
147+
as.on('cancel', function(goalHandle) {
148+
goal.setCancelled({total_dishes_cleaned: 10}, 'canceled');
149+
done();
150+
});
151+
});
152+
153+
as.start();
154+
155+
let ac = new rclnodejs.ActionClientInterface({
156+
type: 'ros1_actions/msg/DoDishes',
157+
actionServer: 'dishes7',
158+
rclnodejs: rclnodejs
159+
});
160+
ac.sendGoal({ goal: {dishwasher_id: 7}});
161+
});
162+
163+
it('ActionLib server goal setRejected', function(done) {
164+
let as = new rclnodejs.ActionLib.ActionServer({
165+
type: 'ros1_actions/msg/DoDishes',
166+
actionServer: 'dishes8',
167+
rclnodejs: rclnodejs
168+
});
169+
as.on('goal', function(goal) {
170+
goal.setRejected({total_dishes_cleaned: 0}, 'rejected');
171+
});
172+
as.start();
173+
174+
let ac = new rclnodejs.ActionClientInterface({
175+
type: 'ros1_actions/msg/DoDishes',
176+
actionServer: 'dishes8',
177+
rclnodejs: rclnodejs
178+
});
179+
180+
let count = 0;
181+
ac.on('status', function(status) {
182+
if (count++ == 1) {
183+
assert.strictEqual(status.status_list[0].text, 'rejected');
184+
done();
185+
}
186+
});
187+
ac.sendGoal({ goal: {dishwasher_id: 8}});
188+
});
189+
190+
it('ActionLib server goal setAborted', function(done) {
191+
let as = new rclnodejs.ActionLib.ActionServer({
192+
type: 'ros1_actions/msg/DoDishes',
193+
actionServer: 'dishes9',
194+
rclnodejs: rclnodejs
195+
});
196+
as.on('goal', function(goal) {
197+
goal.setAccepted('goal accepted');
198+
goal.setAborted({total_dishes_cleaned: 0}, 'aborted');
199+
});
200+
201+
as.start();
202+
203+
let ac = new rclnodejs.ActionClientInterface({
204+
type: 'ros1_actions/msg/DoDishes',
205+
actionServer: 'dishes9',
206+
rclnodejs: rclnodejs
207+
});
208+
ac.on('result', function(result) {
209+
assert.strictEqual(result.total_dishes_cleaned, 0);
210+
211+
done();
212+
});
213+
ac.sendGoal({ goal: {dishwasher_id: 9}});
214+
});
215+
216+
it('ActionLib sever goal setSucceeded', function(done) {
217+
let as = new rclnodejs.ActionLib.ActionServer({
218+
type: 'ros1_actions/msg/DoDishes',
219+
actionServer: 'dishes10',
220+
rclnodejs: rclnodejs
221+
});
222+
as.on('goal', function(goal) {
223+
goal.setAccepted('goal accepted');
224+
goal.setSucceeded({total_dishes_cleaned: 100}, 'done');
225+
});
226+
as.start();
227+
228+
let ac = new rclnodejs.ActionClientInterface({
229+
type: 'ros1_actions/msg/DoDishes',
230+
actionServer: 'dishes10',
231+
rclnodejs: rclnodejs
232+
});
233+
ac.on('result', function(result) {
234+
assert.strictEqual(result.total_dishes_cleaned, 100);
235+
done();
236+
});
237+
238+
ac.sendGoal({ goal: {dishwasher_id: 9}});
239+
});
240+
241+
it('ActionLib complete process', function(done) {
242+
let as = new rclnodejs.ActionLib.ActionServer({
243+
type: 'ros1_actions/msg/DoDishes',
244+
actionServer: 'dishes11',
245+
rclnodejs: rclnodejs
246+
});
247+
as.on('goal', function(goal) {
248+
goal.setAccepted('goal accepted');
249+
let feedback = {
250+
percent_complete: 90
251+
};
252+
253+
goal.publishFeedback(feedback);
254+
goal.setSucceeded({total_dishes_cleaned: 100}, 'done');
255+
});
256+
as.start();
257+
258+
let ac = new rclnodejs.ActionClientInterface({
259+
type: 'ros1_actions/msg/DoDishes',
260+
actionServer: 'dishes11',
261+
rclnodejs: rclnodejs
262+
});
263+
ac.on('feedback', function(feedback) {
264+
assert.strictEqual(feedback.percent_complete, 90);
265+
});
266+
ac.on('result', function(result) {
267+
assert.strictEqual(result.total_dishes_cleaned, 100);
268+
done();
269+
});
270+
271+
ac.sendGoal({ goal: {dishwasher_id: 11}});
272+
});
273+
274+
it('ActionClient cancel', function(done) {
275+
let as = new rclnodejs.ActionLib.ActionServer({
276+
type: 'ros1_actions/msg/DoDishes',
277+
actionServer: 'dishes12',
278+
rclnodejs: rclnodejs
279+
});
280+
as.on('goal', function(goal) {
281+
goal.setAccepted('goal accepted');
282+
ac.cancel(gGoal.goal_id.id);
283+
});
284+
as.on('cancel', function(goalHandle) {
285+
done();
286+
});
287+
as.start();
288+
289+
let ac = new rclnodejs.ActionClientInterface({
290+
type: 'ros1_actions/msg/DoDishes',
291+
actionServer: 'dishes12',
292+
rclnodejs: rclnodejs
293+
});
294+
let gGoal = ac.sendGoal({ goal: {dishwasher_id: 12}});
295+
});
296+
297+
it('ActionClient shutdown', function() {
298+
let as = new rclnodejs.ActionLib.ActionServer({
299+
type: 'ros1_actions/msg/DoDishes',
300+
actionServer: 'dishes13',
301+
rclnodejs: rclnodejs
302+
});
303+
as.on('goal', function(goal) {
304+
goal.setAccepted('goal accepted');
305+
});
306+
as.start();
307+
308+
let ac = new rclnodejs.ActionClientInterface({
309+
type: 'ros1_actions/msg/DoDishes',
310+
actionServer: 'dishes13',
311+
rclnodejs: rclnodejs
312+
});
313+
ac.sendGoal({ goal: {dishwasher_id: 12}});
314+
ac.shutdown();
315+
});
316+
317+
it('ActionClient status succeed', function(done) {
318+
const GoalStatus = rclnodejs.require('actionlib_msgs/msg/GoalStatus');
319+
let as = new rclnodejs.ActionLib.ActionServer({
320+
type: 'ros1_actions/msg/DoDishes',
321+
actionServer: 'dishes14',
322+
rclnodejs: rclnodejs
323+
});
324+
as.on('goal', function(goal) {
325+
goal.setAccepted('goal accepted');
326+
goal.setSucceeded({total_dishes_cleaned: 100}, 'done');
327+
});
328+
as.start();
329+
330+
let count = 0;
331+
let ac = new rclnodejs.ActionClientInterface({
332+
type: 'ros1_actions/msg/DoDishes',
333+
actionServer: 'dishes14',
334+
rclnodejs: rclnodejs
335+
});
336+
ac.on('status', function(status) {
337+
status.status_list.forEach((s) =>{
338+
if (count++ == 1 && s.goal_id.id === goal.goal_id.id &&
339+
s.status === GoalStatus.SUCCEEDED) {
340+
done();
341+
}
342+
});
343+
});
344+
345+
let goal = ac.sendGoal({ goal: {dishwasher_id: 12}});
346+
});
347+
});

0 commit comments

Comments
 (0)