add rcl lifecycle
* (refactor) add rcl_lifecycle package * (refactor) cleanup free calls * (fix) initialize state machine with external node handle * (dev) use external typesupport * (fix) use external typesupport * (fix) cleanup states * (fix) no pointer comparison in state machine * (test) refactor for rcl testing purpose * (test) test suite for lifecycle sequence * (dev) change to rcl_ret_t * (test) wrong transition test * (fix) dependency for isolated build * (clean) remove std_msgs as a dep * (fix) enable correct visibility control * (fix) correct test for initialization * (fix) correct visibility attributes * (dev) change default value to lifecycle_msgs * (clean) style and lifecycle prefix * (dev) cmake macro get_rcl_lifecycle_information * (cleanup) remove unused files' * (cleanup) remove callback pointer * (debug) add print state machine function * (review) address review comments * (bugfix) correct export in information.cmake * (fix) correct visibility control * (vcs) fix convertion from size_t to unsigned int * (typo) fix internal struct name * const correctness * get_available_states service * new service msgs * tes for multiple instances * (dev) return codes * initial refactor * test default sequence * refactor state machine * apply upstream changes * c++14 * disable state machine print * address review comments * uncrustify * fix comparison with unsigned warning
This commit is contained in:
Karsten Knese
GitHub
parent
4590fc5f77
commit
a18ef97e5a
17 changed files with 2357 additions and 0 deletions
714
rcl_lifecycle/test/test_default_state_machine.cpp
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rcl_lifecycle/test/test_default_state_machine.cpp
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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// testing default transition sequence.
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// This test requires that the transitions are set
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// as depicted in design.ros2.org
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#include <gtest/gtest.h>
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#include <lifecycle_msgs/msg/state.h>
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#include <lifecycle_msgs/msg/transition.h>
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#include <vector>
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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#include "rcl_lifecycle/rcl_lifecycle.h"
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#include "../src/default_state_machine.h"
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class TestDefaultStateMachine : public ::testing::Test
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{
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protected:
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rcl_node_t * node_ptr;
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void SetUp()
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{
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rcl_ret_t ret;
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ret = rcl_init(0, nullptr, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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this->node_ptr = new rcl_node_t;
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*this->node_ptr = rcl_get_zero_initialized_node();
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const char * name = "node_name";
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rcl_node_options_t node_options = rcl_node_get_default_options();
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ret = rcl_node_init(this->node_ptr, name, &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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}
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void TearDown()
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{
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rcl_ret_t ret = rcl_node_fini(this->node_ptr);
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delete this->node_ptr;
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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ret = rcl_shutdown();
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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}
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};
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std::vector<rcl_lifecycle_ret_t> keys =
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{
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
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RCL_LIFECYCLE_RET_OK,
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RCL_LIFECYCLE_RET_FAILURE,
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RCL_LIFECYCLE_RET_ERROR
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};
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void
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test_trigger_transition(
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rcl_lifecycle_state_machine_t * state_machine,
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int key,
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unsigned int expected_current_state,
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unsigned int expected_goal_state)
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{
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EXPECT_EQ(
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expected_current_state, state_machine->current_state->id);
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EXPECT_EQ(
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RCL_RET_OK, rcl_lifecycle_trigger_transition(
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state_machine, key, false));
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EXPECT_EQ(
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expected_goal_state, state_machine->current_state->id);
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}
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/*
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* Test suite
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*/
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TEST_F(TestDefaultStateMachine, zero_init) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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ASSERT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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const rcl_lifecycle_transition_map_t * transition_map = &state_machine.transition_map;
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ASSERT_EQ(transition_map->states_size, (unsigned int)0);
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ASSERT_EQ(transition_map->states, nullptr);
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ASSERT_EQ(transition_map->transitions_size, (unsigned int)0);
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ASSERT_EQ(transition_map->transitions, nullptr);
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}
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TEST_F(TestDefaultStateMachine, default_sequence) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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rcl_lifecycle_init_default_state_machine(&state_machine);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
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}
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TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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rcl_lifecycle_init_default_state_machine(&state_machine);
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{ // supposed to stay unconfigured for all invalid
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
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EXPECT_EQ(
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RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(
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state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
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}
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}
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{ // supposed to stay configuring for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == RCL_LIFECYCLE_RET_OK ||
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*it == RCL_LIFECYCLE_RET_FAILURE ||
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*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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}
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}
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{ // supposed to stay inactive for all invalid
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN) {continue;}
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fprintf(stderr, "applying key %u\n", *it);
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EXPECT_EQ(
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RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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}
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}
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{ // supposed to stay activating for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == RCL_LIFECYCLE_RET_OK ||
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*it == RCL_LIFECYCLE_RET_FAILURE ||
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*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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}
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}
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{ // supposed to stay active for all invalid
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN)
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{continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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}
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}
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{ // supposed to stay deactivating for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == RCL_LIFECYCLE_RET_OK ||
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*it == RCL_LIFECYCLE_RET_FAILURE ||
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*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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}
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}
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{ // supposed to stay cleanup for all invalid
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// skip inactive, we tested that already
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == RCL_LIFECYCLE_RET_OK ||
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*it == RCL_LIFECYCLE_RET_FAILURE ||
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*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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}
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}
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{ // supposed to stay shutting down for all invalid
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
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// shutdown directly, since we tested already unconfigured
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_SHUTDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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if (*it == RCL_LIFECYCLE_RET_OK ||
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*it == RCL_LIFECYCLE_RET_FAILURE ||
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*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
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}
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}
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{ // supposed to stay finalized for all invalid
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
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for (auto it = keys.begin(); it != keys.end(); ++it) {
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
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}
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}
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}
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TEST_F(TestDefaultStateMachine, default_in_a_loop) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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rcl_lifecycle_init_default_state_machine(&state_machine);
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for (auto i = 0; i < 5; ++i) {
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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test_trigger_transition(
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&state_machine,
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RCL_LIFECYCLE_RET_OK,
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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__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
|
||||
}
|
||||
|
||||
TEST_F(TestDefaultStateMachine, default_sequence_failure) {
|
||||
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
|
||||
rcl_lifecycle_init_default_state_machine(&state_machine);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_FAILURE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
|
||||
|
||||
///////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_FAILURE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
|
||||
//////////////////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_FAILURE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
|
||||
|
||||
//////////////////////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_FAILURE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
|
||||
/////////////////////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
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__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_FAILURE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
|
||||
}
|
||||
|
||||
TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
|
||||
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
|
||||
rcl_lifecycle_init_default_state_machine(&state_machine);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
|
||||
|
||||
///////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
|
||||
|
||||
//////////////////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
|
||||
|
||||
//////////////////////////////
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
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__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
|
||||
}
|
||||
|
||||
TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
|
||||
{
|
||||
rcl_lifecycle_state_machine_t state_machine =
|
||||
rcl_lifecycle_get_zero_initialized_state_machine();
|
||||
rcl_lifecycle_init_default_state_machine(&state_machine);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_FAILURE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
|
||||
}
|
||||
|
||||
{
|
||||
rcl_lifecycle_state_machine_t state_machine =
|
||||
rcl_lifecycle_get_zero_initialized_state_machine();
|
||||
rcl_lifecycle_init_default_state_machine(&state_machine);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_OK,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
|
||||
|
||||
test_trigger_transition(
|
||||
&state_machine,
|
||||
RCL_LIFECYCLE_RET_ERROR,
|
||||
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
|
||||
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue