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Lifecycle refactor (#298)

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* 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
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13 changed files with 933 additions and 659 deletions
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24
rcl_lifecycle/test/test_transition_map.cpp
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@ -20,6 +20,7 @@
#include "rcl/error_handling.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/transition_map.h"
class TestTransitionMap : public ::testing::Test
@ -50,7 +51,7 @@ TEST_F(TestTransitionMap, initialized) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_lifecycle_state_t state0 = {"my_state", 0, NULL, NULL, 0};
rcl_lifecycle_state_t state0 = {"my_state_0", 0, NULL, 0};
rcl_ret_t ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_is_initialized(&transition_map));
@ -58,7 +59,7 @@ TEST_F(TestTransitionMap, initialized) {
ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string_safe();
rcl_lifecycle_state_t state1 = {"my_state", 1, NULL, NULL, 0};
rcl_lifecycle_state_t state1 = {"my_state_1", 1, NULL, 0};
ret = rcl_lifecycle_register_state(&transition_map, state1, &allocator);
rcl_lifecycle_state_t * start_state =
@ -71,7 +72,24 @@ TEST_F(TestTransitionMap, initialized) {
rcl_lifecycle_transition_t transition01 = {"from0to1", 0,
start_state, goal_state};
ret = rcl_lifecycle_register_transition(
&transition_map, transition01, 0, &allocator);
&transition_map, transition01, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
rcl_lifecycle_transition_t transition10 = {"from1to0", 1,
goal_state, start_state};
ret = rcl_lifecycle_register_transition(
&transition_map, transition10, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
const rcl_lifecycle_transition_t * trans =
rcl_lifecycle_get_transition_by_id(start_state, 0);
EXPECT_EQ(0u, trans->id);
trans = rcl_lifecycle_get_transition_by_label(start_state, "from0to1");
EXPECT_EQ(0u, trans->id);
trans = rcl_lifecycle_get_transition_by_id(goal_state, 1);
EXPECT_EQ(1u, trans->id);
trans = rcl_lifecycle_get_transition_by_label(goal_state, "from1to0");
EXPECT_EQ(1u, trans->id);
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
}