niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Lifecycle refactor (#298)

Browse source 
* no static initialization of states anymore

* make transition labels more descriptive

* introduce labeled keys

* define default transition keys

* fix memory management

* introduce service for transition graph

* export transition keys

* remove keys, transition id unique, label ambiguous

* semicolon for macro call
This commit is contained in:
Karsten Knese 2018-10-11 14:03:41 -07:00 • committed by GitHub
parent 9d4b1c9912
commit 5e3d4be720
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
13 changed files with 933 additions and 659 deletions
Download patch file Download diff file Expand all files Collapse all files

238
rcl_lifecycle/test/test_default_state_machine.cpp
View file

@ -28,8 +28,7 @@
#include "rcutils/logging_macros.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "../src/default_state_machine.h"
#include "rcl_lifecycle/default_state_machine.h"
class TestDefaultStateMachine : public ::testing::Test
{
@ -62,48 +61,47 @@ protected:
}
};
std::vector<rcl_lifecycle_transition_key_t> keys =
{
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR
};
void
test_trigger_transition(
rcl_lifecycle_state_machine_t * state_machine,
int key,
uint8_t key_id,
unsigned int expected_current_state,
unsigned int expected_goal_state)
{
EXPECT_EQ(
expected_current_state, state_machine->current_state->id);
EXPECT_EQ(
RCL_RET_OK, rcl_lifecycle_trigger_transition(
state_machine, key, false));
RCL_RET_OK, rcl_lifecycle_trigger_transition_by_id(
state_machine, key_id, false));
EXPECT_EQ(
expected_goal_state, state_machine->current_state->id);
}
/*
* Test suite
*/
TEST_F(TestDefaultStateMachine, zero_init) {
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
ASSERT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
rcl_reset_error();
const rcl_lifecycle_transition_map_t * transition_map = &state_machine.transition_map;
ASSERT_EQ(transition_map->states_size, (unsigned int)0);
ASSERT_EQ(transition_map->states, nullptr);
ASSERT_EQ(transition_map->transitions_size, (unsigned int)0);
ASSERT_EQ(transition_map->transitions, nullptr);
EXPECT_EQ(transition_map->states_size, 0u);
EXPECT_EQ(transition_map->states, nullptr);
EXPECT_EQ(transition_map->transitions_size, 0u);
EXPECT_EQ(transition_map->transitions, nullptr);
auto ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
TEST_F(TestDefaultStateMachine, default_init) {
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
auto ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
TEST_F(TestDefaultStateMachine, default_sequence) {
@ -121,7 +119,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -133,7 +131,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -145,7 +143,7 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -157,19 +155,19 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -184,13 +182,39 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
std::vector<uint8_t> transition_ids =
{
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
};
{ // supposed to stay unconfigured for all invalid
for (auto it = keys.begin(); it != keys.end(); ++it) {
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
EXPECT_EQ(
RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
@ -205,12 +229,12 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
@ -220,18 +244,17 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay inactive for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
for (auto it = keys.begin(); it != keys.end(); ++it) {
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it);
EXPECT_EQ(
RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -245,12 +268,12 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
@ -260,16 +283,16 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay active for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
for (auto it = keys.begin(); it != keys.end(); ++it) {
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN)
{continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -283,12 +306,12 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
@ -299,7 +322,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
// skip inactive, we tested that already
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
@ -308,12 +331,12 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
@ -323,22 +346,22 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay shutting down for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
// shutdown directly, since we tested already unconfigured
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
for (auto it = keys.begin(); it != keys.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR) {continue;}
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
@ -348,12 +371,12 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{ // supposed to stay finalized for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
for (auto it = keys.begin(); it != keys.end(); ++it) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -380,7 +403,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -392,7 +415,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -404,7 +427,7 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -416,20 +439,20 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
}
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -452,7 +475,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -465,7 +488,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -477,7 +500,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -490,7 +513,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
test_trigger_transition(
@ -501,7 +524,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -513,7 +536,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
@ -523,7 +546,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -535,17 +558,17 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -568,13 +591,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -587,7 +610,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -599,13 +622,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -618,7 +641,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -630,7 +653,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
@ -641,13 +664,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -659,7 +682,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
@ -669,30 +692,30 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
/////////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -717,13 +740,13 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
@ -745,7 +768,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
@ -757,14 +780,17 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CALLBACK_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
}