From 8d5ca2bde4a7b5903d788c156c1722d4ec54dec8 Mon Sep 17 00:00:00 2001 From: Ernesto Corbellini <ecorbellini@ekumenlabs.com> Date: Mon, 14 Dec 2015 14:32:27 -0300 Subject: [PATCH] Make client auto testing for rostest. --- .../rosjava_actionlib/ActionClient.java | 4 ---- .../ekumen/rosjava_actionlib/TestClient.java | 21 +++++++------------ 2 files changed, 8 insertions(+), 17 deletions(-) diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java index c4f0097..db58614 100644 --- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java @@ -46,10 +46,6 @@ public class ActionClient<T_ACTION_GOAL extends Message, goalPublisher.publish(goal); } - void ActionClient(string actionName) { - this.actionName = actionName; - } - private void publishClient(ConnectedNode node) { goalPublisher = node.newPublisher(actionName + "/goal", actionGoalType); //clientCancel = connectedNode.newPublisher("fibonacci/cancel", diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java index 919ce66..2c7cb16 100644 --- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java @@ -37,25 +37,20 @@ public class TestClient extends AbstractNodeMain implements ActionClientListener goalMessage.setGoal(fibonacciGoal); while(repeat > 0) { - sleep(1000); - System.out.println("Sending goal #" + repeat + "..."); - ac.sendGoal(goalMessage); - System.out.println("Goal sent."); - repeat--; - } - - while (repeat > 0) { responded = false; + sleep(1000); + System.out.println("Sending goal #" + repeat + "..."); ac.sendGoal(goalMessage); - while (!responded) { - } + System.out.println("Goal sent."); + while (!responded); repeat--; } System.out.println("Finishing node!!"); - sleep(30000); - ac.finish(); - node.shutdown(); + //sleep(30000); + //ac.finish(); + //node.shutdown(); + System.exit(0); } @Override -- GitLab