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[rcl_action] Add function to check if goal can be transitioned to CANCELING (#325)

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* [rcl_action] Add function for checking if goal can be transitioned to CANCELING

Add unit tests for the new function rcl_action_goal_handle_is_cancelable(), as well as rcl_action_goal_handle_is_active().
This commit is contained in:
Jacob Perron 2018-11-13 11:55:28 -08:00 • committed by GitHub
parent 9351fd89c7
commit 8b00791a56
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 88 additions and 45 deletions
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88
rcl_action/test/rcl_action/test_goal_handle.cpp
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@ -15,7 +15,7 @@
#include <sstream>
#include <string>
#include <utility>
#include <tuple>
#include <vector>
#include "rcl_action/goal_handle.h"
@ -156,8 +156,9 @@ TEST(TestGoalHandle, test_goal_handle_update_state_invalid)
rcl_reset_error();
}
using EventStatePair = std::pair<rcl_action_goal_event_t, rcl_action_goal_state_t>;
using StateTransitionSequence = std::vector<EventStatePair>;
using EventStateActiveCancelableTuple =
std::tuple<rcl_action_goal_event_t, rcl_action_goal_state_t, bool, bool>;
using StateTransitionSequence = std::vector<EventStateActiveCancelableTuple>;
const std::vector<std::string> event_strs = {
"EXECUTE", "CANCEL", "SET_SUCCEEDED", "SET_ABORTED", "SET_CANCELED"};
@ -169,8 +170,8 @@ public:
const testing::TestParamInfo<StateTransitionSequence> & info)
{
std::stringstream result;
for (const EventStatePair & event_state : info.param) {
result << "_" << event_strs[event_state.first];
for (const EventStateActiveCancelableTuple & event_state : info.param) {
result << "_" << event_strs[std::get<0>(event_state)];
}
return result.str();
}
@ -216,15 +217,22 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions
// Walk through state transitions
rcl_ret_t ret;
for (const EventStatePair & event_state : this->test_sequence) {
ret = rcl_action_update_goal_state(&this->goal_handle, event_state.first);
const rcl_action_goal_state_t & expected_state = event_state.second;
if (GOAL_STATE_UNKNOWN == expected_state) {
for (const EventStateActiveCancelableTuple & event_state : this->test_sequence) {
rcl_action_goal_event_t goal_event;
rcl_action_goal_state_t expected_goal_state;
bool expected_is_active;
bool expected_is_cancelable;
std::tie(goal_event, expected_goal_state, expected_is_active, expected_is_cancelable) =
event_state;
ret = rcl_action_update_goal_state(&this->goal_handle, goal_event);
if (GOAL_STATE_UNKNOWN == expected_goal_state) {
EXPECT_EQ(ret, RCL_RET_ACTION_GOAL_EVENT_INVALID);
continue;
}
EXPECT_EQ(ret, RCL_RET_OK);
expect_state_eq(expected_state);
expect_state_eq(expected_goal_state);
EXPECT_EQ(expected_is_active, rcl_action_goal_handle_is_active(&this->goal_handle));
EXPECT_EQ(expected_is_cancelable, rcl_action_goal_handle_is_cancelable(&this->goal_handle));
}
}
@ -232,40 +240,40 @@ TEST_P(TestGoalHandleStateTransitionSequence, test_goal_handle_state_transitions
// Note, each sequence starts in the ACCEPTED state
const StateTransitionSequence valid_state_transition_sequences[] = {
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
},
{
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED},
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_CANCELED, false, false),
},
{
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED},
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_ABORTED, false, false),
},
// This is an odd case, but valid nonetheless
{
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED},
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_SUCCEEDED, false, false),
},
};
@ -277,27 +285,27 @@ INSTANTIATE_TEST_CASE_P(
const StateTransitionSequence invalid_state_transition_sequences[] = {
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING},
{GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_CANCELING, true, false),
std::make_tuple(GOAL_EVENT_CANCEL, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING},
{GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_EXECUTING, true, true),
std::make_tuple(GOAL_EVENT_EXECUTE, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_SET_CANCELED, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_SET_SUCCEEDED, GOAL_STATE_UNKNOWN, false, false),
},
{
{GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN},
std::make_tuple(GOAL_EVENT_SET_ABORTED, GOAL_STATE_UNKNOWN, false, false),
},
};