add before/after-hook-func in test

jsk-ros-pkg · Oct 20, 2022 · e4355a9 · e4355a9
1 parent 32901f6
commit e4355a9
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/roseus_smach/test/test-samples.l b/roseus_smach/test/test-samples.l
@@ -43,13 +43,26 @@
 (run-test-smach exec-smach-simple-nested :outcome5 '(nil (FOO) (BAR) (FOO) (BAR) (FOO) (BAR) nil (BAS) nil))
 
 (run-test-smach exec-smach-userdata :outcome4 '((FOO) (BAR) (FOO) (BAR) (FOO)))
+(run-test-smach exec-smach-userdata-hook :outcome4 '((FOO) (BAR) (FOO) (BAR) (FOO)))
 
 (deftest test-smach-sample-userdata ()
 ;  (assert (eq (send (exec-smach-userdata) :name) :outcome4)
 ;	  "sample of smach with userdata")
   (assert (eq (send (exec-state-machine (smach-userdata)) :name) :outcome4)
           "exec (smach-userdata) without initial userdata"))
 
+(deftest test-smach-sample-userdata-hook ()
+  (let ((mydata '((count . 1))))
+    (exec-state-machine
+      (smach-userdata) mydata
+      :before-hook-func
+      #'(lambda (userdata) (incf (cdr (assoc 'count userdata))))
+      :after-hook-func
+      #'(lambda (userdata) (incf (cdr (assoc 'count userdata))))
+      )
+    (assert (eq (cdr (assoc 'count mydata)) 8)
+            "exec (smach-userdata) with hook failed")))
+
 (run-test-smach exec-sample-parallel-state-machine :success '((PRESS-BUTTON) (CLOSE-DOOR) (PUT-SOAP PUT-CLOTH) (OPEN-DOOR)))
 
 (deftest test-smach-action-client-state ()