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Add optional result callback to async_get_result

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Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This commit is contained in:
Jacob Perron 2019-04-23 15:38:33 -07:00
parent 0da966b981
commit 1a0f8e3f28
4 changed files with 56 additions and 3 deletions
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35
rclcpp_action/test/test_client.cpp
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@ -415,6 +415,41 @@ TEST_F(TestClient, async_send_goal_with_result_callback_wait_for_result)
EXPECT_EQ(3, wrapped_result.result->sequence.back());
}
TEST_F(TestClient, async_get_result_with_callback)
{
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
ActionGoal goal;
goal.order = 4;
auto future_goal_handle = action_client->async_send_goal(goal);
dual_spin_until_future_complete(future_goal_handle);
auto goal_handle = future_goal_handle.get();
EXPECT_NE(goal_handle, nullptr);
EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
EXPECT_FALSE(goal_handle->is_feedback_aware());
EXPECT_FALSE(goal_handle->is_result_aware());
bool result_callback_received = false;
auto future_result = action_client->async_get_result(
goal_handle,
[&result_callback_received](
const typename ActionGoalHandle::WrappedResult & result) mutable
{
if (
rclcpp_action::ResultCode::SUCCEEDED == result.code &&
result.result->sequence.size() == 5u)
{
result_callback_received = true;
}
});
dual_spin_until_future_complete(future_result);
auto wrapped_result = future_result.get();
EXPECT_TRUE(result_callback_received);
ASSERT_EQ(5u, wrapped_result.result->sequence.size());
EXPECT_EQ(3, wrapped_result.result->sequence.back());
}
TEST_F(TestClient, async_cancel_one_goal)
{
auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);