From a4e6485313616b79dda9e7aed92ed5c04e73cf75 Mon Sep 17 00:00:00 2001 From: brawner Date: Thu, 3 Sep 2020 13:47:08 -0700 Subject: [PATCH] Fix test_rcl_lifecycle (#788) Signed-off-by: Stephen Brawner --- rcl_lifecycle/test/test_rcl_lifecycle.cpp | 274 ++++++++++++---------- 1 file changed, 154 insertions(+), 120 deletions(-) diff --git a/rcl_lifecycle/test/test_rcl_lifecycle.cpp b/rcl_lifecycle/test/test_rcl_lifecycle.cpp index 1571fc5..ad1c5a3 100644 --- a/rcl_lifecycle/test/test_rcl_lifecycle.cpp +++ b/rcl_lifecycle/test/test_rcl_lifecycle.cpp @@ -43,53 +43,53 @@ static void * bad_realloc(void *, size_t, void *) TEST(TestRclLifecycle, lifecycle_state) { rcl_lifecycle_state_t state = rcl_lifecycle_get_zero_initialized_state(); - EXPECT_EQ(state.id, 0u); - EXPECT_EQ(state.label, nullptr); + EXPECT_EQ(0u, state.id); + EXPECT_EQ(nullptr, state.label); rcl_allocator_t allocator = rcl_get_default_allocator(); unsigned int expected_id = 42; const char expected_label[] = "label"; rcl_ret_t ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_state_init(&state, expected_id, nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_state_init(nullptr, expected_id, &expected_label[0], &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); rcl_allocator_t bad_allocator = rcl_get_default_allocator(); bad_allocator.allocate = bad_malloc; bad_allocator.reallocate = bad_realloc; ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &bad_allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &allocator); - EXPECT_EQ(state.id, expected_id); - EXPECT_STREQ(state.label, &expected_label[0]); + EXPECT_EQ(expected_id, state.id); + EXPECT_STREQ(&expected_label[0], state.label); ret = rcl_lifecycle_state_fini(&state, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); // Already finalized ret = rcl_lifecycle_state_fini(nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; ret = rcl_lifecycle_state_fini(&state, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; } TEST(TestRclLifecycle, lifecycle_transition) { rcl_lifecycle_transition_t transition = rcl_lifecycle_get_zero_initialized_transition(); - EXPECT_EQ(transition.id, 0u); - EXPECT_EQ(transition.label, nullptr); - EXPECT_EQ(transition.start, nullptr); - EXPECT_EQ(transition.goal, nullptr); + EXPECT_EQ(0u, transition.id); + EXPECT_EQ(nullptr, transition.label); + EXPECT_EQ(nullptr, transition.start); + EXPECT_EQ(nullptr, transition.goal); rcl_allocator_t allocator = rcl_get_default_allocator(); @@ -97,57 +97,57 @@ TEST(TestRclLifecycle, lifecycle_transition) { // allocated variable rcl_lifecycle_state_t * start = reinterpret_cast( allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state)); - EXPECT_NE(start, nullptr); + EXPECT_NE(nullptr, start); rcl_lifecycle_state_t * end = reinterpret_cast( allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state)); - EXPECT_NE(end, nullptr); + EXPECT_NE(nullptr, end); const char start_label[] = "start"; const char end_label[] = "end"; *start = rcl_lifecycle_get_zero_initialized_state(); *end = rcl_lifecycle_get_zero_initialized_state(); rcl_ret_t ret = rcl_lifecycle_state_init(start, 0u, &start_label[0], &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; ret = rcl_lifecycle_state_init(end, 1u, &end_label[0], &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; unsigned int expected_id = 42; const char expected_label[] = "label"; ret = rcl_lifecycle_transition_init( nullptr, expected_id, nullptr, nullptr, nullptr, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_transition_init( &transition, expected_id, nullptr, nullptr, nullptr, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_transition_init( nullptr, expected_id, nullptr, nullptr, nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_transition_init( &transition, expected_id, nullptr, nullptr, nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_transition_init( &transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; rcutils_reset_error(); ret = rcl_lifecycle_transition_fini(&transition, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; rcutils_reset_error(); ret = rcl_lifecycle_transition_init( &transition, expected_id, &expected_label[0], start, nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; rcutils_reset_error(); ret = rcl_lifecycle_transition_fini(&transition, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; rcutils_reset_error(); start = reinterpret_cast( @@ -158,60 +158,71 @@ TEST(TestRclLifecycle, lifecycle_transition) { bad_allocator.reallocate = bad_realloc; ret = rcl_lifecycle_transition_init( &transition, expected_id, &expected_label[0], start, end, &bad_allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_transition_init( &transition, expected_id, &expected_label[0], start, end, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - EXPECT_EQ(transition.id, expected_id); - EXPECT_STREQ(transition.label, &expected_label[0]); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + EXPECT_EQ(expected_id, transition.id); + EXPECT_STREQ(&expected_label[0], transition.label); ret = rcl_lifecycle_transition_fini(nullptr, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_transition_fini(&transition, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); // Already finalized ret = rcl_lifecycle_transition_fini(nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; ret = rcl_lifecycle_transition_fini(&transition, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; } TEST(TestRclLifecycle, state_machine) { rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine(); - EXPECT_EQ(state_machine.current_state, nullptr); - EXPECT_EQ(state_machine.transition_map.states, nullptr); - EXPECT_EQ(state_machine.transition_map.transitions, nullptr); - EXPECT_EQ(state_machine.transition_map.states_size, 0u); - EXPECT_EQ(state_machine.transition_map.transitions_size, 0u); + EXPECT_EQ(nullptr, state_machine.current_state); + EXPECT_EQ(nullptr, state_machine.transition_map.states); + EXPECT_EQ(nullptr, state_machine.transition_map.transitions); + EXPECT_EQ(0u, state_machine.transition_map.states_size); + EXPECT_EQ(0u, state_machine.transition_map.transitions_size); rcl_node_t node = rcl_get_zero_initialized_node(); rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_context_t context = rcl_get_zero_initialized_context(); rcl_node_options_t options = rcl_node_get_default_options(); - rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); - rcl_ret_t ret = rcl_init_options_init(&init_options, allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - - ret = rcl_init(0, nullptr, &init_options, &context); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - - ret = rcl_node_init(&node, "node", "namespace", &context, &options); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( { - EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&options)); + }); + rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); + rcl_ret_t ret = rcl_init_options_init(&init_options, allocator); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)); + }); + + ret = rcl_init(0, nullptr, &init_options, &context); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str; }); + ret = rcl_node_init(&node, "node", "namespace", &context, &options); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str; + }); + + const rosidl_message_type_support_t * pn = ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent); const rosidl_service_type_support_t * cs = @@ -228,92 +239,84 @@ TEST(TestRclLifecycle, state_machine) { // Check various arguments are null ret = rcl_lifecycle_state_machine_init( nullptr, &node, pn, cs, gs, gas, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, nullptr, pn, cs, gs, gas, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, nullptr, cs, gs, gas, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, nullptr, gs, gas, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, nullptr, gas, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, gs, nullptr, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, gs, gas, nullptr, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, gs, gas, gat, nullptr, false, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, gs, gas, gat, gtg, false, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); // Everything should be good ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, gs, gas, gat, gtg, false, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; // Transition_map is not initialized - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); rcutils_reset_error(); - void * temp_function = state_machine.com_interface.srv_change_state.impl; - state_machine.com_interface.srv_change_state.impl = nullptr; - // get_state service is valid, but not change_state service - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); - rcutils_reset_error(); - state_machine.com_interface.srv_change_state.impl = - reinterpret_cast(temp_function); - // Allocate some memory and initialize states and transitions so is_initialized will pass state_machine.transition_map.states_size = 1u; state_machine.transition_map.states = reinterpret_cast( allocator.allocate( state_machine.transition_map.states_size * sizeof(rcl_lifecycle_state_t), allocator.state)); - ASSERT_NE(state_machine.transition_map.states, nullptr); + ASSERT_NE(nullptr, state_machine.transition_map.states); state_machine.transition_map.states[0] = rcl_lifecycle_get_zero_initialized_state(); state_machine.transition_map.transitions_size = 1u; @@ -321,55 +324,74 @@ TEST(TestRclLifecycle, state_machine) { reinterpret_cast(allocator.allocate( state_machine.transition_map.transitions_size * sizeof(rcl_lifecycle_transition_t), allocator.state)); - ASSERT_NE(state_machine.transition_map.transitions, nullptr); + ASSERT_NE(nullptr, state_machine.transition_map.transitions); state_machine.transition_map.transitions[0] = rcl_lifecycle_get_zero_initialized_transition(); - EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_OK); + EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_state_machine_is_initialized(&state_machine)); + + // get_state service is valid, but not change_state service + void * temp_function = state_machine.com_interface.srv_change_state.impl; + state_machine.com_interface.srv_change_state.impl = nullptr; + EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine)); + rcutils_reset_error(); + state_machine.com_interface.srv_change_state.impl = + reinterpret_cast(temp_function); // allocator is nullptr ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, nullptr); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; state_machine = rcl_lifecycle_get_zero_initialized_state_machine(); // Node is null ret = rcl_lifecycle_state_machine_fini(&state_machine, nullptr, &allocator); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); } TEST(TestRclLifecycle, state_transitions) { rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine(); - EXPECT_EQ(state_machine.current_state, nullptr); - EXPECT_EQ(state_machine.transition_map.states, nullptr); - EXPECT_EQ(state_machine.transition_map.transitions, nullptr); - EXPECT_EQ(state_machine.transition_map.states_size, 0u); - EXPECT_EQ(state_machine.transition_map.transitions_size, 0u); + EXPECT_EQ(nullptr, state_machine.current_state); + EXPECT_EQ(nullptr, state_machine.transition_map.states); + EXPECT_EQ(nullptr, state_machine.transition_map.transitions); + EXPECT_EQ(0u, state_machine.transition_map.states_size); + EXPECT_EQ(0u, state_machine.transition_map.transitions_size); rcl_node_t node = rcl_get_zero_initialized_node(); rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_context_t context = rcl_get_zero_initialized_context(); rcl_node_options_t options = rcl_node_get_default_options(); - rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); - rcl_ret_t ret = rcl_init_options_init(&init_options, allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - - ret = rcl_init(0, nullptr, &init_options, &context); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - - ret = rcl_node_init(&node, "node", "namespace", &context, &options); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( { - EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str; - EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; - EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&options)); + }); + + rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); + rcl_ret_t ret = rcl_init_options_init(&init_options, allocator); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)); + }); + + ret = rcl_init(0, nullptr, &init_options, &context); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)); + EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)); + }); + + ret = rcl_node_init(&node, "node", "namespace", &context, &options); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)); }); const rosidl_message_type_support_t * pn = @@ -387,57 +409,57 @@ TEST(TestRclLifecycle, state_transitions) { ret = rcl_lifecycle_state_machine_init( &state_machine, &node, pn, cs, gs, gas, gat, gtg, true, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; ret = rcl_lifecycle_state_machine_is_initialized(&state_machine); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; const rcl_lifecycle_transition_t * transition = rcl_lifecycle_get_transition_by_id(nullptr, 0); - EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str; + EXPECT_EQ(nullptr, transition) << rcl_get_error_string().str; rcutils_reset_error(); transition = rcl_lifecycle_get_transition_by_id( state_machine.current_state, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE); - EXPECT_EQ(transition->id, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE); + EXPECT_EQ(lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, transition->id); // Update this test with a new invalid number if 42 ever becomes a valid state id transition = rcl_lifecycle_get_transition_by_id(state_machine.current_state, 42); - EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str; + EXPECT_EQ(nullptr, transition) << rcl_get_error_string().str; rcutils_reset_error(); transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "configure"); - EXPECT_STREQ(transition->label, "configure"); + EXPECT_STREQ("configure", transition->label); transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "NOT A LABEL"); - EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str; + EXPECT_EQ(nullptr, transition) << rcl_get_error_string().str; rcutils_reset_error(); ret = rcl_lifecycle_trigger_transition_by_id(nullptr, 0, false); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_trigger_transition_by_id( &state_machine, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, false); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; ret = rcl_lifecycle_trigger_transition_by_label(nullptr, "transition_success", true); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; // If using the public interface to register transitions, this case should already be checked. state_machine.current_state->valid_transitions[0].goal = nullptr; ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true); - EXPECT_EQ(ret, RCL_RET_ERROR); + EXPECT_EQ(RCL_RET_ERROR, ret); rcutils_reset_error(); rcl_print_state_machine(&state_machine); EXPECT_FALSE(rcutils_error_is_set()); ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; } TEST(TestRclLifecycle, init_fini_maybe_fail) { @@ -445,13 +467,21 @@ TEST(TestRclLifecycle, init_fini_maybe_fail) { rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_context_t context = rcl_get_zero_initialized_context(); rcl_node_options_t options = rcl_node_get_default_options(); + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&options)); + }); + rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); rcl_ret_t ret = rcl_init_options_init(&init_options, allocator); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)); + }); ret = rcl_init(0, nullptr, &init_options, &context); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; - + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( { EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)); @@ -459,7 +489,11 @@ TEST(TestRclLifecycle, init_fini_maybe_fail) { }); ret = rcl_node_init(&node, "node", "namespace", &context, &options); - EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)); + }); const rosidl_message_type_support_t * pn = ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);