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Refactor goal state machine implementation and add unit tests (#311)

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* Fix buggy if-conditions in transition functions.
* Bugfix: incease number of states by one
* Cleanup CMakeLists.txt and package.xml
* Move goal state machine implementation details from header to C file
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Jacob Perron 2018-10-30 16:15:10 -07:00 • committed by GitHub
parent 2c0e35d9d1
commit 29e7dbe156
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6 changed files with 317 additions and 162 deletions
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152
rcl_action/test/rcl_action/test_goal_state_machine.cpp Normal file
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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gtest/gtest.h>
#include "rcl_action/goal_state_machine.h"
TEST(TestGoalStateMachine, test_valid_transitions)
{
rcl_action_goal_state_t state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_EXECUTE);
EXPECT_EQ(GOAL_STATE_EXECUTING, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_CANCEL);
EXPECT_EQ(GOAL_STATE_CANCELING, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_CANCEL);
EXPECT_EQ(GOAL_STATE_CANCELING, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_SET_SUCCEEDED);
EXPECT_EQ(GOAL_STATE_SUCCEEDED, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_SET_ABORTED);
EXPECT_EQ(GOAL_STATE_ABORTED, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_SET_CANCELED);
EXPECT_EQ(GOAL_STATE_CANCELED, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_SET_ABORTED);
EXPECT_EQ(GOAL_STATE_ABORTED, state);
}
TEST(TestGoalStateMachine, test_invalid_transitions)
{
// Invalid from ACCEPTED
rcl_action_goal_state_t state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_SET_SUCCEEDED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_SET_ABORTED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ACCEPTED,
GOAL_EVENT_SET_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from EXECUTING
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_EXECUTE);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_EXECUTING,
GOAL_EVENT_SET_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from CANCELING
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_EXECUTE);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELING,
GOAL_EVENT_CANCEL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from SUCCEEDED
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_EXECUTE);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_CANCEL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_SET_SUCCEEDED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_SET_ABORTED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_SUCCEEDED,
GOAL_EVENT_SET_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from ABORTED
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_EXECUTE);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_CANCEL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_SET_SUCCEEDED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_SET_ABORTED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_ABORTED,
GOAL_EVENT_SET_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
// Invalid from CANCELED
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_EXECUTE);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_CANCEL);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_SET_SUCCEEDED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_SET_ABORTED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
state = rcl_action_transition_goal_state(
GOAL_STATE_CANCELED,
GOAL_EVENT_SET_CANCELED);
EXPECT_EQ(GOAL_STATE_UNKNOWN, state);
}