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Commit 01ef7c83 authored by Ernesto Corbellini's avatar Ernesto Corbellini
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Modified test client to test only one goal at a time.

parent 95b5c6b8
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...@@ -50,7 +50,6 @@ public class ServerStateMachine { ...@@ -50,7 +50,6 @@ public class ServerStateMachine {
public synchronized int transition(int event) throws Exception { public synchronized int transition(int event) throws Exception {
int nextState = state; int nextState = state;
switch (state) { switch (state) {
case GoalStatus.PENDING: case GoalStatus.PENDING:
switch (event) { switch (event) {
......
...@@ -30,6 +30,9 @@ import actionlib_tutorials.FibonacciResult; ...@@ -30,6 +30,9 @@ import actionlib_tutorials.FibonacciResult;
import actionlib_msgs.GoalStatusArray; import actionlib_msgs.GoalStatusArray;
import actionlib_msgs.GoalID; import actionlib_msgs.GoalID;
import actionlib_msgs.GoalStatus; import actionlib_msgs.GoalStatus;
import org.apache.commons.logging.Log;
import org.apache.commons.logging.LogFactory;
/** /**
* Class to test the actionlib client. * Class to test the actionlib client.
...@@ -38,6 +41,7 @@ import actionlib_msgs.GoalStatus; ...@@ -38,6 +41,7 @@ import actionlib_msgs.GoalStatus;
public class TestClient extends AbstractNodeMain implements ActionClientListener<FibonacciActionFeedback, FibonacciActionResult> { public class TestClient extends AbstractNodeMain implements ActionClientListener<FibonacciActionFeedback, FibonacciActionResult> {
private ActionClient ac = null; private ActionClient ac = null;
private volatile boolean resultReceived = false; private volatile boolean resultReceived = false;
private Log log = LogFactory.getLog(ActionClient.class);
@Override @Override
public GraphName getDefaultNodeName() { public GraphName getDefaultNodeName() {
...@@ -49,7 +53,7 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener ...@@ -49,7 +53,7 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener
ac = new ActionClient<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE); ac = new ActionClient<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE);
FibonacciActionGoal goalMessage; FibonacciActionGoal goalMessage;
int repeat = 3; int repeat = 3;
int i; int i = 0;
String goalId = "fibonacci_test_"; String goalId = "fibonacci_test_";
// Attach listener for the callbacks // Attach listener for the callbacks
...@@ -66,7 +70,7 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener ...@@ -66,7 +70,7 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener
// set Fibonacci parameter // set Fibonacci parameter
//fibonacciGoal.setOrder(6); //fibonacciGoal.setOrder(6);
for (i = 0; i < repeat; i++) { /*for (i = 0; i < repeat; i++) {
//sleep(10000); //sleep(10000);
System.out.println("Sending goal #" + i + "..."); System.out.println("Sending goal #" + i + "...");
goalMessage = (FibonacciActionGoal)ac.newGoalMessage(); goalMessage = (FibonacciActionGoal)ac.newGoalMessage();
...@@ -74,12 +78,12 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener ...@@ -74,12 +78,12 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener
ac.sendGoal(goalMessage, goalId + i); ac.sendGoal(goalMessage, goalId + i);
System.out.println("Goal sent."); System.out.println("Goal sent.");
resultReceived = false; resultReceived = false;
} }*/
// send another message and cancel it // send another message and cancel it
goalId += i; goalId += i;
goalMessage = (FibonacciActionGoal)ac.newGoalMessage(); goalMessage = (FibonacciActionGoal)ac.newGoalMessage();
goalMessage.getGoal().setOrder(i); goalMessage.getGoal().setOrder(2);
System.out.println("Sending goal ID: " + goalId + "..."); System.out.println("Sending goal ID: " + goalId + "...");
ac.sendGoal(goalMessage, goalId); ac.sendGoal(goalMessage, goalId);
System.out.println("Goal sent."); System.out.println("Goal sent.");
...@@ -122,8 +126,9 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener ...@@ -122,8 +126,9 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener
public void statusReceived(GoalStatusArray status) { public void statusReceived(GoalStatusArray status) {
List<GoalStatus> statusList = status.getStatusList(); List<GoalStatus> statusList = status.getStatusList();
for(GoalStatus gs:statusList) { for(GoalStatus gs:statusList) {
//System.out.println("GoalID: " + gs.getGoalId().getId() + " -- GoalStatus: " + gs.getStatus() + " -- " + gs.getText()); log.info("GoalID: " + gs.getGoalId().getId() + " -- GoalStatus: " + gs.getStatus() + " -- " + gs.getText());
} }
log.info("Current state of our goal: " + ClientStateMachine.ClientStates.translateState(ac.getGoalState()));
} }
void sleep(long msec) { void sleep(long msec) {
......
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